<mujocoinclude>
    <body name="wrist" pos="0 0 0.396">
        <inertial pos="0.003 0 0.016" quat="0.504234 0.49623 0.49523 0.504234" mass="0.3" diaginertia="0.001 0.001 0.001" />
        <joint name="WRJ1" pos="0 0 0" axis="0 1 0" range="-0.524 0.175" armature="0.005" damping="0.5" user="1123" />
        <geom name="V_wrist" class="D_Vizual" mesh="wrist" />
        <geom name="C_wrist" class="DC_Hand" size="0.015 0.01" quat="0.707107 0.707107 0 0" type="capsule" rgba="0.4 0.5 0.6 0.1" />
        <body name="palm" pos="0 0 0.034">
            <inertial pos="0.006 0 0.036" quat="0.715833 0.0439898 0.0749825 0.692839" mass="0.3" diaginertia="0.001 0.001 0.001" />
            <joint name="WRJ0" pos="0 0 0" axis="1 0 0" range="-0.785 0.611" armature="0.005" damping="0.5" user="1122" />
            <geom name="V_palm" class="D_Vizual" mesh="palm" />
            <geom name="C_palm0" class="DC_Hand" size="0.032 0.0111 0.049" pos="0.011 0 0.038" type="box" rgba="0.4 0.5 0.6 0.1" />
            <geom name="C_palm1" class="DC_Hand" size="0.011 0.0111 0.025" pos="-0.032 0 0.014" type="box" rgba="0.4 0.5 0.6 0.1" />
            <site name="S_grasp"  type="sphere" rgba="0 0 0 0" size="0.01" pos=".007 -.05 0.07" quat="0.0087 -0.6 -0.0034 -0.81  " />
            <site class="D_Touch" name="Tch_ffmetacarpal" size="0.009 0.004 0.006" pos="0.033 -.008 .078"/>
            <site class="D_Touch" name="Tch_mfmetacarpal" size="0.009 0.004 0.014" pos="0.011 -.008 .074"/>
            <site class="D_Touch" name="Tch_rfmetacarpal" size="0.009 0.004 0.016" pos="-0.011 -.008 .068"/>
            <site class="D_Touch" name="Tch_thmetacarpal" size="0.008 0.004 0.015" pos="0.006 -.008 .042" euler="0 0.57 0"/>
            <site class="D_Touch" name="Tch_palm" size="0.012 0.004 0.016" pos="-0.017 -.008 .024" euler="0 -1 0"/>



            <body name="ffknuckle" pos="0.033 0 0.095">
                <inertial pos="0 0 0" quat="0.520062 0.854102 0.00600072 -0.00300036" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
                <joint name="FFJ3" pos="0 0 0" axis="0 1 0" range="-0.436 0.436" user="1103" />
                <geom name="V_ffknuckle" class="D_Vizual" mesh="knuckle" />
                <body name="ffproximal" pos="0 0 0">
                    <inertial pos="0 0 0.023" quat="0.707095 -0.00400054 0.00400054 0.707095" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
                    <joint name="FFJ2" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102" />
                    <geom name="V_ffproximal" class="D_Vizual" mesh="F3" />
                    <geom name="C_ffproximal" class="DC_Hand" size="0.01 0.0225" pos="0 0 0.0225" type="capsule" />
                    <site class="D_Touch" name="Tch_ffproximal" size="0.009 0.004 0.012" pos="0 -.007 .022"/>
                    <body name="ffmiddle" pos="0 0 0.045">
                        <inertial pos="0 0 0.011" quat="0.707107 0 0 0.707107" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
                        <joint name="FFJ1" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101" />
                        <geom name="V_ffmiddle" class="D_Vizual" mesh="F2" />
                        <geom name="C_ffmiddle" class="DC_Hand" size="0.00805 0.0125" pos="0 0 0.0125" type="capsule" />
                        <site class="D_Touch" name="Tch_ffmiddle" size="0.009 0.002 0.007" pos="0 -.007 .013"/>
                        <body name="ffdistal" pos="0 0 0.025">
                            <inertial pos="0 0 0.015" quat="0.7071 -0.00300043 0.00300043 0.7071" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
                            <joint name="FFJ0" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100" />
                            <geom name="V_ffdistal" class="D_Vizual" pos="0 0 0.001" mesh="F1" />
                            <geom name="C_ffdistal" class="DC_Hand" size="0.00705 0.012" pos="0 0 0.012" type="capsule" condim="4" />
                            <site name="S_fftip" pos="0 0 0.026" group="3" />
                            <site name="Tch_fftip" class="D_Touch" pos="0 -0.004 0.018" />
                        </body>
                    </body>
                </body>
            </body>
            <body name="mfknuckle" pos="0.011 0 0.099">
                <inertial pos="0 0 0" quat="0.520062 0.854102 0.00600072 -0.00300036" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
                <joint name="MFJ3" pos="0 0 0" axis="0 1 0" range="-0.436 0.436" user="1107" />
                <geom name="V_mfknuckle" class="D_Vizual" mesh="knuckle" />
                <body name="mfproximal" pos="0 0 0">
                    <inertial pos="0 0 0.023" quat="0.707095 -0.00400054 0.00400054 0.707095" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
                    <joint name="MFJ2" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106" />
                    <geom name="V_mfproximal" class="D_Vizual" mesh="F3" />
                    <geom name="C_mfproximal" class="DC_Hand" size="0.01 0.0225" pos="0 0 0.0225" type="capsule" />
                    <site class="D_Touch" name="Tch_mfproximal" size="0.009 0.004 0.012" pos="0 -.007 .022"/><body name="mfmiddle" pos="0 0 0.045">
                        <inertial pos="0 0 0.012" quat="0.707107 0 0 0.707107" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
                        <joint name="MFJ1" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105" />
                        <geom name="V_mfmiddle" class="D_Vizual" mesh="F2" />
                        <geom name="C_mfmiddle" class="DC_Hand" size="0.00805 0.0125" pos="0 0 0.0125" type="capsule" />
                        <site class="D_Touch" name="Tch_mfmiddle" size="0.009 0.002 0.007" pos="0 -.007 .013"/>
                        <body name="mfdistal" pos="0 0 0.025">
                            <inertial pos="0 0 0.015" quat="0.7071 -0.00300043 0.00300043 0.7071" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
                            <joint name="MFJ0" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104" />
                            <geom name="V_mfdistal" class="D_Vizual" mesh="F1" />
                            <geom name="C_mfdistal" class="DC_Hand" size="0.00705 0.012" pos="0 0 0.012" type="capsule" condim="4" />
                            <site name="S_mftip" pos="0 0 0.026" group="3" />
                            <site name="Tch_mftip" class="D_Touch" pos="0 -0.004 0.018" />
                        </body>
                    </body>
                </body>
            </body>
            <body name="rfknuckle" pos="-0.011 0 0.095">
                <inertial pos="0 0 0" quat="0.520062 0.854102 0.00600072 -0.00300036" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
                <joint name="RFJ3" pos="0 0 0" axis="0 1 0" range="-0.436 0.436" user="1111" />
                <geom name="V_rfknuckle" class="D_Vizual" mesh="knuckle" />
                <body name="rfproximal" pos="0 0 0">
                    <inertial pos="0 0 0.023" quat="0.707095 -0.00400054 0.00400054 0.707095" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
                    <joint name="RFJ2" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110" />
                    <geom name="V_rfproximal" class="D_Vizual" mesh="F3" />
                    <geom name="C_rfproximal" class="DC_Hand" size="0.01 0.0225" pos="0 0 0.0225" type="capsule" />
                    <site class="D_Touch" name="Tch_rfproximal" size="0.009 0.004 0.012" pos="0 -.007 .022"/>
                    <body name="rfmiddle" pos="0 0 0.045">
                        <inertial pos="0 0 0.012" quat="0.707107 0 0 0.707107" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
                        <joint name="RFJ1" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109" />
                        <geom name="V_rfmiddle" class="D_Vizual" mesh="F2" />
                        <geom name="C_rfmiddle" class="DC_Hand" size="0.00805 0.0125" pos="0 0 0.0125" type="capsule" />
                        <site class="D_Touch" name="Tch_rfmiddle" size="0.009 0.002 0.007" pos="0 -.007 .013"/>
                        <body name="rfdistal" pos="0 0 0.025">
                            <inertial pos="0 0 0.015" quat="0.7071 -0.00300043 0.00300043 0.7071" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
                            <joint name="RFJ0" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108" />
                            <geom name="V_rfdistal" class="D_Vizual" pos="0 0 0.001" mesh="F1" />
                            <geom name="C_rfdistal" class="DC_Hand" size="0.00705 0.012" pos="0 0 0.012" type="capsule" condim="4" />
                            <site name="S_rftip" pos="0 0 0.026" group="3" />
                            <site name="Tch_rftip" class="D_Touch" pos="0 -0.004 0.018" />
                        </body>
                    </body>
                </body>
            </body>
            <body name="lfmetacarpal" pos="-0.017 0 0.044">
                <inertial pos="-0.014 0.001 0.014" quat="0.709167 -0.0920216 -0.0630148 0.696164" mass="0.075" diaginertia="1e-05 1e-05 1e-05" />
                <joint name="LFJ4" pos="0 0 0" axis="0.570977 0 0.820966" range="0 0.698" user="1116" />
                <geom name="V_lfmetacarpal" class="D_Vizual" pos="-0.016 0 -0.023" mesh="lfmetacarpal" />
                <geom name="C_lfmetacarpal" class="DC_Hand" size="0.0095 0.0111 0.025" pos="-0.0165 0 0.01" type="box" rgba="0.4 0.5 0.6 0.2" />
                <site class="D_Touch" name="Tch_lfmetacarpal" size="0.009 0.004 0.014" pos="-0.016 -.008 .017"/>
                <body name="lfknuckle" pos="-0.017 0 0.044">
                    <inertial pos="0 0 0" quat="0.520062 0.854102 0.00600072 -0.00300036" mass="0.008" diaginertia="1e-05 1e-05 1e-05" />
                    <joint name="LFJ3" pos="0 0 0" axis="0 1 0" range="-0.436 0.436" user="1115" />
                    <geom name="V_lfknuckle" class="D_Vizual" mesh="knuckle" />
                    <body name="lfproximal" pos="0 0 0">
                        <inertial pos="0 0 0.023" quat="0.707095 -0.00400054 0.00400054 0.707095" mass="0.014" diaginertia="1e-05 1e-05 1e-05" />
                        <joint name="LFJ2" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114" />
                        <geom name="V_lfproximal" class="D_Vizual" mesh="F3" />
                        <geom name="C_lfproximal" class="DC_Hand" size="0.01 0.0225" pos="0 0 0.0225" type="capsule" />
                        <site class="D_Touch" name="Tch_lfproximal" size="0.009 0.004 0.012" pos="0 -.007 .022"/>
                        <body name="lfmiddle" pos="0 0 0.045">
                            <inertial pos="0 0 0.012" quat="0.707107 0 0 0.707107" mass="0.012" diaginertia="1e-05 1e-05 1e-05" />
                            <joint name="LFJ1" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113" />
                            <geom name="V_lfmiddle" class="D_Vizual" mesh="F2" />
                            <geom name="C_lfmiddle" class="DC_Hand" size="0.00805 0.0125" pos="0 0 0.0125" type="capsule" />
                            <site class="D_Touch" name="Tch_lfmiddle" size="0.009 0.002 0.007" pos="0 -.007 .013"/>
                            <body name="lfdistal" pos="0 0 0.025">
                                <inertial pos="0 0 0.015" quat="0.7071 -0.00300043 0.00300043 0.7071" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
                                <joint name="LFJ0" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112" />
                                <geom name="V_lfdistal" class="D_Vizual" pos="0 0 0.001" mesh="F1" />
                                <geom name="C_lfdistal" class="DC_Hand" size="0.00705 0.012" pos="0 0 0.012" type="capsule" condim="4" />
                                <site name="S_lftip" pos="0 0 0.026" group="3" />
                                <site name="Tch_lftip" class="D_Touch" pos="0 -0.004 0.018" />
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="thbase" pos="0.034 -0.009 0.029" quat="0.923956 0 0.382499 0">
                <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05" />
                <joint name="THJ4" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121" />
                <geom name="V_thbase" size="0.001 0.001 0.001" type="box" group="1" />
                <body name="thproximal" pos="0 0 0">
                    <inertial pos="0 0 0.017" quat="0.981604 0 0.000999597 0.190923" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
                    <joint name="THJ3" pos="0 0 0" axis="1 0 0" range="0 1.309" user="1120" />
                    <geom name="V_thproximal" class="D_Vizual" mesh="TH3_z" />
                    <geom name="C_thproximal" class="DC_Hand" size="0.013 0.019" pos="0 0 0.019" type="capsule" rgba="0.4 0.5 0.6 0.1" />
                    <site class="D_Touch" name="Tch_thproximal" size="0.005 0.011 0.011" pos="-.008 0 0.022"/>
                    <body name="thhub" pos="0 0 0.038">
                        <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05" />
                        <joint name="THJ2" pos="0 0 0" axis="1 0 0" range="-0.262 0.262" user="1119" />
                        <geom name="V_thhub" size="0.001 0.001 0.001" type="box" group="1" />
                        <body name="thmiddle" pos="0 0 0">
                            <inertial pos="0 0 0.016" quat="0.999971 -0.000999971 -0.00699979 0.00299991" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
                            <joint name="THJ1" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118" />
                            <geom name="V_thmiddle" class="D_Vizual" mesh="TH2_z" />
                            <geom name="C_thmiddle" class="DC_Hand" size="0.011 0.016" pos="0 0 0.016" type="capsule" />
                            <site class="D_Touch" name="Tch_thmiddle" size="0.005 0.011 0.011" pos="-.008 0 0.018" />
                            <body name="thdistal" pos="0 0 0.032">
                                <inertial pos="0 0 0.016" quat="0.99887 -0.00499935 -0.0469939 0.00499935" mass="0.016" diaginertia="1e-05 1e-05 1e-05" />
                                <joint name="THJ0" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117" />
                                <geom name="V_thdistal" class="D_Vizual" mesh="TH1_z" />
                                <geom name="C_thdistal" class="DC_Hand" size="0.00918 0.013" pos="0 0 0.013" type="capsule" condim="4" />
                                <site name="S_thtip" pos="0 0 0.0275" group="3" />
                                <site name="Tch_thtip" class="D_Touch" pos="-0.005 0 0.02" size="0.005 0.011 0.016" />
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>
</mujocoinclude>