<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
    <option timestep="0.002" iterations="20" apirate="200">
        <flag warmstart="enable"></flag>
    </option>

    <include file="shared_two.xml"></include>

    <asset>
        <include file="shared_asset.xml"></include>

        <texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
        <texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>

        <material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
        <material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
        <material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
    </asset>

    <worldbody>
        <geom name="floor0" pos="1 1 -1" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
        <body name="floor0" pos="1 1 0"></body>

        <body name="robot0:hand mount" pos="1 1.65 0.35" euler="1.5708 0 3.14159">
        <inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial>
	<joint name="robot_Translation_x" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" damping="400" />
	<joint name="robot_Translation_y" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" damping="400" />
	<joint name="robot_Translation_z" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" damping="400" />
	<joint name="robot_Rotation_x" pos="0 0 0" axis="1 0 0" range="-1 1" damping="100" />
	<joint name="robot_Rotation_y" pos="0 0 0" axis="0 1 0" range="-1 1" damping="100" />
	<joint name="robot_Rotation_z" pos="0 0 0" axis="0 0 1" range="-1 1" damping="100" />
        <body childclass="robot0:asset_class" name="robot0:forearm" pos="0 0.01 0" euler="0 0 0">
            <inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
            <geom class="robot0:D_Vizual" pos="0 0.01 0.04" name="robot0:V_forearm" mesh="robot0:forearm" euler="0 0 1.57"></geom>
            <geom class="robot0:DC_Hand" name="robot0:C_forearm" type="mesh" mesh="robot0:forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
            <body name="robot0:wrist" pos="0 0 0.256">
                <inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
                <joint name="robot0:WRJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.14" damping="0.5" armature="0.005" user="1123"></joint>
                <geom class="robot0:D_Vizual" name="robot0:V_wrist" mesh="robot0:wrist"></geom>
                <geom class="robot0:DC_Hand" name="robot0:C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
                <body name="robot0:palm" pos="0 0 0.034">
                    <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
                    <joint name="robot0:WRJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005" user="1122"></joint>
                    <geom class="robot0:D_Vizual" name="robot0:V_palm" mesh="robot0:palm"></geom>
                    <geom class="robot0:DC_Hand" name="robot0:C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
                    <geom class="robot0:DC_Hand" name="robot0:C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
                    <body name="robot0:ffknuckle" pos="0.033 0 0.095">
                        <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103"></joint>
                        <geom class="robot0:D_Vizual" name="robot0:V_ffknuckle" mesh="robot0:knuckle"></geom>
                        <body name="robot0:ffproximal" pos="0 0 0">
                            <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_ffproximal" mesh="robot0:F3"></geom>
                            <geom class="robot0:DC_Hand" name="robot0:C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                            <body name="robot0:ffmiddle" pos="0 0 0.045">
                                <inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101"></joint>
                                <geom class="robot0:D_Vizual" name="robot0:V_ffmiddle" mesh="robot0:F2"></geom>
                                <geom class="robot0:DC_Hand" name="robot0:C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                <body name="robot0:ffdistal" pos="0 0 0.025">
                                    <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_ffdistal" pos="0 0 0.001" mesh="robot0:F1"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                    <site name="robot0:S_fftip" pos="0 0 0.026" group="3"></site>
                                    <site class="robot0:D_Touch" name="robot0:Tch_fftip"></site>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="robot0:mfknuckle" pos="0.011 0 0.099">
                        <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107"></joint>
                        <geom class="robot0:D_Vizual" name="robot0:V_mfknuckle" mesh="robot0:knuckle"></geom>
                        <body name="robot0:mfproximal" pos="0 0 0">
                            <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_mfproximal" mesh="robot0:F3"></geom>
                            <geom class="robot0:DC_Hand" name="robot0:C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                            <body name="robot0:mfmiddle" pos="0 0 0.045">
                                <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105"></joint>
                                <geom class="robot0:D_Vizual" name="robot0:V_mfmiddle" mesh="robot0:F2"></geom>
                                <geom class="robot0:DC_Hand" name="robot0:C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                <body name="robot0:mfdistal" pos="0 0 0.025">
                                    <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_mfdistal" mesh="robot0:F1"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                    <site name="robot0:S_mftip" pos="0 0 0.026" group="3"></site>
                                    <site class="robot0:D_Touch" name="robot0:Tch_mftip"></site>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="robot0:rfknuckle" pos="-0.011 0 0.095">
                        <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111"></joint>
                        <geom class="robot0:D_Vizual" name="robot0:V_rfknuckle" mesh="robot0:knuckle"></geom>
                        <body name="robot0:rfproximal" pos="0 0 0">
                            <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_rfproximal" mesh="robot0:F3"></geom>
                            <geom class="robot0:DC_Hand" name="robot0:C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                            <body name="robot0:rfmiddle" pos="0 0 0.045">
                                <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint>
                                <geom class="robot0:D_Vizual" name="robot0:V_rfmiddle" mesh="robot0:F2"></geom>
                                <geom class="robot0:DC_Hand" name="robot0:C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                <body name="robot0:rfdistal" pos="0 0 0.025">
                                    <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_rfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                    <site name="robot0:S_rftip" pos="0 0 0.026" group="3"></site>
                                    <site class="robot0:D_Touch" name="robot0:Tch_rftip"></site>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="robot0:lfmetacarpal" pos="-0.017 0 0.044">
                        <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint>
                        <geom class="robot0:D_Vizual" name="robot0:V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot0:lfmetacarpal"></geom>
                        <geom class="robot0:DC_Hand" name="robot0:C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
                        <body name="robot0:lfknuckle" pos="-0.017 0 0.044">
                            <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_lfknuckle" mesh="robot0:knuckle"></geom>
                            <body name="robot0:lfproximal" pos="0 0 0">
                                <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint>
                                <geom class="robot0:D_Vizual" name="robot0:V_lfproximal" mesh="robot0:F3"></geom>
                                <geom class="robot0:DC_Hand" name="robot0:C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                                <body name="robot0:lfmiddle" pos="0 0 0.045">
                                    <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_lfmiddle" mesh="robot0:F2"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                    <body name="robot0:lfdistal" pos="0 0 0.025">
                                        <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                        <joint name="robot0:LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint>
                                        <geom class="robot0:D_Vizual" name="robot0:V_lfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
                                        <geom class="robot0:DC_Hand" name="robot0:C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                        <site name="robot0:S_lftip" pos="0 0 0.026" group="3"></site>
                                        <site class="robot0:D_Touch" name="robot0:Tch_lftip"></site>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="robot0:thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
                        <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint>
                        <geom name="robot0:V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
                        <body name="robot0:thproximal" pos="0 0 0">
                            <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_thproximal" mesh="robot0:TH3_z"></geom>
                            <geom class="robot0:DC_Hand" name="robot0:C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
                            <body name="robot0:thhub" pos="0 0 0.038">
                                <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint>
                                <geom name="robot0:V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
                                <body name="robot0:thmiddle" pos="0 0 0">
                                    <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_thmiddle" mesh="robot0:TH2_z"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
                                    <body name="robot0:thdistal" pos="0 0 0.032">
                                        <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                        <joint name="robot0:THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint>
                                        <geom class="robot0:D_Vizual" name="robot0:V_thdistal" mesh="robot0:TH1_z"></geom>
                                        <geom class="robot0:DC_Hand" name="robot0:C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
                                        <site name="robot0:S_thtip" pos="0 0 0.0275" group="3"></site>
                                        <site class="robot0:D_Touch" name="robot0:Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>


	<body name="robot0:hand mount_2" pos="1 -0.30 0.35" euler="1.5708 3.14159 3.14159">
        <inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial>
	<joint name="robot_Translation_x_2" pos="0 0 0" axis="1 0 0" type="slide" range="-1 1" damping="400" />
	<joint name="robot_Translation_y_2" pos="0 0 0" axis="0 1 0" type="slide" range="-1 1" damping="400" />
	<joint name="robot_Translation_z_2" pos="0 0 0" axis="0 0 1" type="slide" range="-1 1" damping="400" />
	<joint name="robot_Rotation_x_2" pos="0 0 0" axis="1 0 0" range="-1 1" damping="100" />
	<joint name="robot_Rotation_y_2" pos="0 0 0" axis="0 1 0" range="-1 1" damping="100" />
	<joint name="robot_Rotation_z_2" pos="0 0 0" axis="0 0 1" range="-1 1" damping="100" />
	
        <body childclass="robot0:asset_class" name="robot0:forearm_2" pos="0 0.01 0" euler="0 0 0">
            <inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
            <geom class="robot0:D_Vizual" pos="0 0.01 0.04" name="robot0:V_forearm_2" mesh="robot0:forearm" euler="0 0 1.57"></geom>
            <geom class="robot0:DC_Hand" name="robot0:C_forearm_2" type="mesh" mesh="robot0:forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
            <body name="robot0:wrist_2" pos="0 0 0.256">
                <inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
                <joint name="robot0:WRJ1_2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.14" damping="0.5" armature="0.005" user="1123_2"></joint>
                <geom class="robot0:D_Vizual" name="robot0:V_wrist_2" mesh="robot0:wrist"></geom>
                <geom class="robot0:DC_Hand" name="robot0:C_wrist_2" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
                <body name="robot0:palm_2" pos="0 0 0.034">
                    <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
                    <joint name="robot0:WRJ0_2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005" user="1122_2"></joint>
                    <geom class="robot0:D_Vizual" name="robot0:V_palm_2" mesh="robot0:palm"></geom>
                    <geom class="robot0:DC_Hand" name="robot0:C_palm0_2" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
                    <geom class="robot0:DC_Hand" name="robot0:C_palm1_2" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
                    <body name="robot0:ffknuckle_2" pos="0.033 0 0.095">
                        <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:FFJ3_2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103_2"></joint>
                        <geom class="robot0:D_Vizual" name="robot0:V_ffknuckle_2" mesh="robot0:knuckle"></geom>
                        <body name="robot0:ffproximal_2" pos="0 0 0">
                            <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:FFJ2_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102_2"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_ffproximal_2" mesh="robot0:F3"></geom>
                            <geom class="robot0:DC_Hand" name="robot0:C_ffproximal_2" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                            <body name="robot0:ffmiddle_2" pos="0 0 0.045">
                                <inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:FFJ1_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101_2"></joint>
                                <geom class="robot0:D_Vizual" name="robot0:V_ffmiddle_2" mesh="robot0:F2"></geom>
                                <geom class="robot0:DC_Hand" name="robot0:C_ffmiddle_2" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                <body name="robot0:ffdistal_2" pos="0 0 0.025">
                                    <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:FFJ0_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100_2"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_ffdistal_2" pos="0 0 0.001" mesh="robot0:F1"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_ffdistal_2" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                    <site name="robot0:S_fftip_2" pos="0 0 0.026" group="3"></site>
                                    <site class="robot0:D_Touch" name="robot0:Tch_fftip_2"></site>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="robot0:mfknuckle_2" pos="0.011 0 0.099">
                        <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:MFJ3_2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107_2"></joint>
                        <geom class="robot0:D_Vizual" name="robot0:V_mfknuckle_2" mesh="robot0:knuckle"></geom>
                        <body name="robot0:mfproximal_2" pos="0 0 0">
                            <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:MFJ2_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106_2"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_mfproximal_2" mesh="robot0:F3"></geom>
                            <geom class="robot0:DC_Hand" name="robot0:C_mfproximal_2" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                            <body name="robot0:mfmiddle_2" pos="0 0 0.045">
                                <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:MFJ1_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105_2"></joint>
                                <geom class="robot0:D_Vizual" name="robot0:V_mfmiddle_2" mesh="robot0:F2"></geom>
                                <geom class="robot0:DC_Hand" name="robot0:C_mfmiddle_2" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                <body name="robot0:mfdistal_2" pos="0 0 0.025">
                                    <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:MFJ0_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104_2"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_mfdistal_2" mesh="robot0:F1"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_mfdistal_2" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                    <site name="robot0:S_mftip_2" pos="0 0 0.026" group="3"></site>
                                    <site class="robot0:D_Touch" name="robot0:Tch_mftip_2"></site>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="robot0:rfknuckle_2" pos="-0.011 0 0.095">
                        <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:RFJ3_2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111_2"></joint>
                        <geom class="robot0:D_Vizual" name="robot0:V_rfknuckle_2" mesh="robot0:knuckle"></geom>
                        <body name="robot0:rfproximal_2" pos="0 0 0">
                            <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:RFJ2_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110_2"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_rfproximal_2" mesh="robot0:F3"></geom>
                            <geom class="robot0:DC_Hand" name="robot0:C_rfproximal_2" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                            <body name="robot0:rfmiddle_2" pos="0 0 0.045">
                                <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:RFJ1_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109_2"></joint>
                                <geom class="robot0:D_Vizual" name="robot0:V_rfmiddle_2" mesh="robot0:F2"></geom>
                                <geom class="robot0:DC_Hand" name="robot0:C_rfmiddle_2" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                <body name="robot0:rfdistal_2" pos="0 0 0.025">
                                    <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:RFJ0_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108_2"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_rfdistal_2" mesh="robot0:F1" pos="0 0 0.001"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_rfdistal_2" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                    <site name="robot0:S_rftip_2" pos="0 0 0.026" group="3"></site>
                                    <site class="robot0:D_Touch" name="robot0:Tch_rftip_2"></site>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="robot0:lfmetacarpal_2" pos="-0.017 0 0.044">
                        <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:LFJ4_2" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116_2"></joint>
                        <geom class="robot0:D_Vizual" name="robot0:V_lfmetacarpal_2" pos="-0.016 0 -0.023" mesh="robot0:lfmetacarpal"></geom>
                        <geom class="robot0:DC_Hand" name="robot0:C_lfmetacarpal_2" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
                        <body name="robot0:lfknuckle_2" pos="-0.017 0 0.044">
                            <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:LFJ3_2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115_2"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_lfknuckle_2" mesh="robot0:knuckle"></geom>
                            <body name="robot0:lfproximal_2" pos="0 0 0">
                                <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:LFJ2_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114_2"></joint>
                                <geom class="robot0:D_Vizual" name="robot0:V_lfproximal_2" mesh="robot0:F3"></geom>
                                <geom class="robot0:DC_Hand" name="robot0:C_lfproximal_2" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
                                <body name="robot0:lfmiddle_2" pos="0 0 0.045">
                                    <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:LFJ1_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113_2"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_lfmiddle_2" mesh="robot0:F2"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_lfmiddle_2" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
                                    <body name="robot0:lfdistal_2" pos="0 0 0.025">
                                        <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                        <joint name="robot0:LFJ0_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112_2"></joint>
                                        <geom class="robot0:D_Vizual" name="robot0:V_lfdistal_2" mesh="robot0:F1" pos="0 0 0.001"></geom>
                                        <geom class="robot0:DC_Hand" name="robot0:C_lfdistal_2" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
                                        <site name="robot0:S_lftip_2" pos="0 0 0.026" group="3"></site>
                                        <site class="robot0:D_Touch" name="robot0:Tch_lftip_2"></site>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="robot0:thbase_2" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
                        <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
                        <joint name="robot0:THJ4_2" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121_2"></joint>
                        <geom name="robot0:V_thbase_2" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
                        <body name="robot0:thproximal_2" pos="0 0 0">
                            <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
                            <joint name="robot0:THJ3_2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120_2"></joint>
                            <geom class="robot0:D_Vizual" name="robot0:V_thproximal_2" mesh="robot0:TH3_z"></geom>
                            <geom class="robot0:DC_Hand" name="robot0:C_thproximal_2" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
                            <body name="robot0:thhub_2" pos="0 0 0.038">
                                <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                <joint name="robot0:THJ2_2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119_2"></joint>
                                <geom name="robot0:V_thhub_2" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
                                <body name="robot0:thmiddle_2" pos="0 0 0">
                                    <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                    <joint name="robot0:THJ1_2" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118_2"></joint>
                                    <geom class="robot0:D_Vizual" name="robot0:V_thmiddle_2" mesh="robot0:TH2_z"></geom>
                                    <geom class="robot0:DC_Hand" name="robot0:C_thmiddle_2" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
                                    <body name="robot0:thdistal_2" pos="0 0 0.032">
                                        <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
                                        <joint name="robot0:THJ0_2" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117_2"></joint>
                                        <geom class="robot0:D_Vizual" name="robot0:V_thdistal_2" mesh="robot0:TH1_z"></geom>
                                        <geom class="robot0:DC_Hand" name="robot0:C_thdistal_2" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
                                        <site name="robot0:S_thtip_2" pos="0 0 0.0275" group="3"></site>
                                        <site class="robot0:D_Touch" name="robot0:Tch_thtip_2" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </body>













        <body name="object" pos="1 0.05 0.4">
            <geom name="object" type="ellipsoid" size="0.03 0.03 0.04" material="material:object" condim="4"></geom>
            <geom name="object_hidden" type="ellipsoid" size="0.029 0.029 0.03" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
            <site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
            <joint name="object:joint" type="free" damping="0.01"></joint>
        </body>
        <body name="target" pos="1.0 0.7 0.2">
            <geom name="target" type="ellipsoid" size="0.03 0.03 0.04" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
            <site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
            <joint name="target:joint" type="free" damping="0.01"></joint>
        </body>
        
        <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light>

	<site name="centre-point" pos="1.0 0.7 0.3" size="0.05" rgba="1 0 0 0.0" />

    </worldbody>


	<actuator>
		<general name="A_Translation_x_2" joint="robot_Translation_x_2" ctrlrange="-1 1" biastype="affine" gainprm="100 0 0" biasprm="0 -500 0" />
		<general name="A_Translation_y_2" joint="robot_Translation_y_2" ctrlrange="-1 1" biastype="affine" gainprm="100 0 0" biasprm="0 -500 0" />
		<general name="A_Translation_z_2" joint="robot_Translation_z_2" ctrlrange="-1 1" biastype="affine" gainprm="40 0 0" biasprm="0 -500 0" />
		<general name="A_Rotation_x_2" joint="robot_Rotation_x_2" ctrlrange="-1 1" biastype="affine" gainprm="500 0 0" biasprm="0 -700 0" />
		<general name="A_Rotation_y_2" joint="robot_Rotation_y_2" ctrlrange="-1 1" biastype="affine" gainprm="200 0 0" biasprm="0 -1000 0" />
		<general name="A_Rotation_z_2" joint="robot_Rotation_z_2" ctrlrange="-1 1" biastype="affine" gainprm="200 0 0" biasprm="0 -1000 0" />

		<general name="A_Translation_x" joint="robot_Translation_x" ctrlrange="-1 1" biastype="affine" gainprm="100 0 0" biasprm="0 -500 0" />
		<general name="A_Translation_y" joint="robot_Translation_y" ctrlrange="-1 1" biastype="affine" gainprm="100 0 0" biasprm="0 -500 0" />
		<general name="A_Translation_z" joint="robot_Translation_z" ctrlrange="-1 1" biastype="affine" gainprm="40 0 0" biasprm="0 -500 0" />
		<general name="A_Rotation_x" joint="robot_Rotation_x" ctrlrange="-1 1" biastype="affine" gainprm="500 0 0" biasprm="0 -700 0" />
		<general name="A_Rotation_y" joint="robot_Rotation_y" ctrlrange="-1 1" biastype="affine" gainprm="200 0 0" biasprm="0 -1000 0" />
		<general name="A_Rotation_z" joint="robot_Rotation_z" ctrlrange="-1 1" biastype="affine" gainprm="200 0 0" biasprm="0 -1000 0" />
	</actuator>
</mujoco>
