<!-- Robot limits pulled from https://frankaemika.github.io/docs/control_parameters.html#constants -->
<!-- Added this new file to the original source code at
        1) https://github.com/vikashplus/franka
    which was originally written by Vikash Kumar and licensed under the Apache License= -->

<!--Copyright 2020 Google LLC-->

<!--Licensed under the Apache License, Version 2.0 (the "License");-->
<!--you may not use this file except in compliance with the License.-->
<!--You may obtain a copy of the License at-->

    <!--https://www.apache.org/licenses/LICENSE-2.0-->

<!--Unless required by applicable law or agreed to in writing, software-->
<!--distributed under the License is distributed on an "AS IS" BASIS,-->
<!--WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.-->
<!--See the License for the specific language governing permissions and-->
<!--limitations under the License.-->

<mujocoinclude>
	<body name="_panda0_link0" childclass="panda_overlay" >
        <geom mesh="link0_viz"/>
        <body name="_panda0_link1" pos="0 0 0.333">
            <joint name="_panda0_joint1" range="-2.8973 2.8973"/>
            <geom mesh="link1_viz"/>
            <body name="_panda0_link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
                <joint name="_panda0_joint2" range="-1.7628 1.7628"/>
                <geom mesh="link2_viz"/>
                <body name="_panda0_link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
                    <joint name="_panda0_joint3" range="-2.8973 2.8973"/>
                    <geom mesh="link3_viz"/>
                    <body name="_panda0_link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
                        <joint name="_panda0_joint4" range="-3.0718 -0.4"/>
                        <geom mesh="link4_viz"/>
                        <body name="_panda0_link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
                            <joint name="_panda0_joint5" range="-2.8973 2.8973"/>
                            <geom mesh="link5_viz"/>
                            <body name="_panda0_link6" pos="0 0 0" euler="1.57 0 1.57">
                                <joint name="_panda0_joint6" range="-1.6573 2.1127"/>
                                <geom mesh="link6_viz"/>
                                <body name="_panda0_link7" pos="0.088 0 0" euler="1.57 0 0.7854">
                                    <joint name="_panda0_joint7" range="-2.8973 2.8973"/>
                                    <geom mesh="link7_viz"/>
                                    <geom pos="0 0 0.107" quat="0.92388 0 0 -0.382683" mesh="hand_viz"/>
                                    <site name="_end_effector" pos="0 0 .210" size="0.01" euler="0 0 -0.785398"/>
                                    <body name="_panda0_leftfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683">
                                        <joint name="_panda0_finger_joint1"  axis="0 1 0" type="slide" range="0 0.04"/>
                                        <geom mesh="finger_viz"/>
                                    </body>
                                    <body name="_panda0_rightfinger" pos="0 0 0.1654" quat="0.92388 0 0 -0.382683">
                                        <joint name="_panda0_finger_joint2" axis="0 -1 0" type="slide" range="0 0.04"/>
                                        <geom quat="0 0 0 1" mesh="finger_viz"/>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>
</mujocoinclude>
