diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/finger_0.obj b/mujoco_warp/test_data/franka_emika_panda/assets/finger_0.obj
new file mode 100644
index 00000000..104cf631
--- /dev/null
+++ b/mujoco_warp/test_data/franka_emika_panda/assets/finger_0.obj
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diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/link2.stl b/mujoco_warp/test_data/franka_emika_panda/assets/link2.stl
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diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/link3.stl b/mujoco_warp/test_data/franka_emika_panda/assets/link3.stl
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diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/link4.stl b/mujoco_warp/test_data/franka_emika_panda/assets/link4.stl
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diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/link5_collision_0.obj b/mujoco_warp/test_data/franka_emika_panda/assets/link5_collision_0.obj
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diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/link5_collision_1.obj b/mujoco_warp/test_data/franka_emika_panda/assets/link5_collision_1.obj
new file mode 100644
index 00000000..2eeeeea1
--- /dev/null
+++ b/mujoco_warp/test_data/franka_emika_panda/assets/link5_collision_1.obj
@@ -0,0 +1,119 @@
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diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/link5_collision_2.obj b/mujoco_warp/test_data/franka_emika_panda/assets/link5_collision_2.obj
new file mode 100644
index 00000000..6b563bff
--- /dev/null
+++ b/mujoco_warp/test_data/franka_emika_panda/assets/link5_collision_2.obj
@@ -0,0 +1,188 @@
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diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/link6.stl b/mujoco_warp/test_data/franka_emika_panda/assets/link6.stl
new file mode 100644
index 00000000..2e9594a8
Binary files /dev/null and b/mujoco_warp/test_data/franka_emika_panda/assets/link6.stl differ
diff --git a/mujoco_warp/test_data/franka_emika_panda/assets/link7.stl b/mujoco_warp/test_data/franka_emika_panda/assets/link7.stl
new file mode 100644
index 00000000..0532d057
Binary files /dev/null and b/mujoco_warp/test_data/franka_emika_panda/assets/link7.stl differ
diff --git a/mujoco_warp/test_data/franka_emika_panda/panda.xml b/mujoco_warp/test_data/franka_emika_panda/panda.xml
new file mode 100644
index 00000000..f931ad22
--- /dev/null
+++ b/mujoco_warp/test_data/franka_emika_panda/panda.xml
@@ -0,0 +1,158 @@
+<mujoco model="panda">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <default>
+    <default class="panda">
+      <material specular="0.5" shininess="0.25"/>
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+      <position forcerange="-100 100"/>
+      <default class="finger">
+        <joint axis="0 1 0" type="slide" range="0 0.04"/>
+      </default>
+
+      <default class="collision">
+        <geom group="2" type="mesh" contype="0" conaffinity="0"/>
+        <default class="primitive_collision">
+          <geom group="3" type="box" contype="0" conaffinity="0"
+           condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
+          <default class="fingertip_pad_collision_1">
+            <geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011"/>
+          </default>
+          <default class="fingertip_pad_collision_2">
+            <geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022"/>
+          </default>
+          <default class="fingertip_pad_collision_3">
+            <geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0"/>
+          </default>
+          <default class="fingertip_pad_collision_4">
+            <geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3"/>
+          </default>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material class="panda" name="white" rgba="1 1 1 1"/>
+    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
+    <material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
+    <material class="panda" name="green" rgba="0 1 0 1"/>
+    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
+
+    <!-- Collision meshes -->
+    <mesh name="link0_c" file="link0.stl"/>
+    <mesh name="link1_c" file="link1.stl"/>
+    <mesh name="link2_c" file="link2.stl"/>
+    <mesh name="link3_c" file="link3.stl"/>
+    <mesh name="link4_c" file="link4.stl"/>
+    <mesh name="link5_c0" file="link5_collision_0.obj"/>
+    <mesh name="link5_c1" file="link5_collision_1.obj"/>
+    <mesh name="link5_c2" file="link5_collision_2.obj"/>
+    <mesh name="link6_c" file="link6.stl"/>
+    <mesh name="link7_c" file="link7.stl"/>
+    <mesh name="hand_c" file="hand.stl"/>
+    <mesh name="finger_0" file="finger_0.obj"/>
+  </asset>
+
+  <worldbody>
+    <light name="top" pos="0 0 2" mode="trackcom"/>
+    <body name="link0" childclass="panda">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
+        fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
+      <geom mesh="link0_c" class="collision" material="off_white"/>
+      <body name="link1" pos="0 0 0.333">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
+          fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
+        <joint name="joint1" damping="40"/>
+        <geom mesh="link1_c" class="collision" material="off_white"/>
+        <body name="link2" quat="1 -1 0 0">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
+            fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
+          <joint name="joint2" range="-1.7628 1.7628" damping="40"/>
+          <geom mesh="link2_c" class="collision" material="off_white"/>
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+            <joint name="joint3" damping="40"/>
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
+              fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
+            <geom mesh="link3_c" class="collision" material="off_white"/>
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
+                fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
+              <joint name="joint4" range="-3.0718 -0.0698" damping="40"/>
+              <geom mesh="link4_c" class="collision" material="off_white"/>
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
+                  fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
+                <joint name="joint5" damping="2"/>
+                <geom mesh="link5_c0" class="collision" material="off_white"/>
+                <geom mesh="link5_c1" class="collision" material="off_white"/>
+                <geom mesh="link5_c2" class="collision" material="off_white"/>
+                <body name="link6" quat="1 1 0 0">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
+                    fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
+                  <joint name="joint6" range="-0.0175 3.7525" damping="2"/>
+                  <geom mesh="link6_c" class="collision" material="off_white"/>
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
+                      fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
+                    <joint name="joint7" damping="2"/>
+                    <geom mesh="link7_c" class="collision" material="off_white"/>
+                    <body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
+                      <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
+                      <geom mesh="hand_c" class="collision" material="off_white"/>
+                      <geom name="hand_capsule" type="capsule"
+                       class="collision" conaffinity="1" size="0.04 0.06"
+                       quat="1 1 0 0" pos="0 0 0.03"/>
+                      <site name="gripper" pos="0 0 0.1"/>
+                      <body name="left_finger" pos="0 0 0.0584">
+                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                        <joint name="finger_joint1" class="finger" damping="10"/>
+                        <geom mesh="finger_0" class="collision" material="off_white"/>
+                        <geom class="fingertip_pad_collision_1"/>
+                        <geom class="fingertip_pad_collision_2"/>
+                        <geom class="fingertip_pad_collision_3"/>
+                        <geom name="left_finger_pad" class="fingertip_pad_collision_4"/>
+                      </body>
+                      <body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
+                        <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                        <joint name="finger_joint2" class="finger" damping="10"/>
+                        <geom mesh="finger_0" class="collision" material="off_white"/>
+                        <geom class="fingertip_pad_collision_1"/>
+                        <geom class="fingertip_pad_collision_2"/>
+                        <geom class="fingertip_pad_collision_3"/>
+                        <geom name="right_finger_pad" class="fingertip_pad_collision_4"/>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <equality>
+    <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+
+  <actuator>
+    <position class="panda" name="actuator1" joint="joint1" kp="1000" kv="20"
+     ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator2" joint="joint2" kp="1000" kv="20"
+     ctrlrange="-1.7628 1.7628"/>
+    <position class="panda" name="actuator3" joint="joint3" kp="750" kv="4"
+     ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator4" joint="joint4" kp="750" kv="4"
+     ctrlrange="-3.0718 -0.0698"/>
+    <position class="panda" name="actuator5" joint="joint5" kp="300" kv="2"
+     forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator6" joint="joint6" kp="300" kv="2" forcerange="-12 12"
+      ctrlrange="-0.0175 3.7525"/>
+    <position class="panda" name="actuator7" joint="joint7" kp="300" kv="2" forcerange="-12 12"/>
+    <general class="panda" name="actuator8" joint="finger_joint1"
+     ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200"/>
+  </actuator>
+</mujoco>
diff --git a/mujoco_warp/test_data/franka_emika_panda/scene.xml b/mujoco_warp/test_data/franka_emika_panda/scene.xml
new file mode 100644
index 00000000..d51d4f4c
--- /dev/null
+++ b/mujoco_warp/test_data/franka_emika_panda/scene.xml
@@ -0,0 +1,28 @@
+<mujoco model="panda scene">
+  <include file="panda.xml"/>
+
+  <statistic center="0.3 0 0.4" extent="1"/>
+
+  <option timestep="0.005" integrator="implicitfast">
+    <flag eulerdamp="disable"/>
+  </option>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="120" elevation="-20"/>
+    <scale contactwidth="0.075" contactheight="0.025" forcewidth="0.05" com="0.05" framewidth="0.01" framelength="0.2"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" contype="1"/>
+  </worldbody>
+</mujoco>