<!-- ======================================================
	This file is part of MuJoCo.     
	Copyright 2009-2016 Roboti LLC.
	
	Model 		:: Sandia hands from Darpa Robotics challenge Package
		Source		: https://bitbucket.org/osrf/drcsim
		Downloaded	: --
		
	Author		:: Vikash Kumar
		Contacts 	: kumar@roboti.us
		Last edits 	: 20Dec'15
====================================================== -->

<mujocoinclude>
	<body name="left_palm" pos="0 0.1 0" quat="0.500003 0.5 0.499997 0.5"  user="-6002" childclass="sandia">
		<inertial pos="0 0 0" mass="1.303" diaginertia="0.001303 0.001303 0.001303" />
		<geom class="sandia_vis" pos="0 0 0" euler="0 0 3.14" rgba="0.7 .7 .65 1" mesh="l_palm" />
		<geom type="capsule" pos="0.070 -0.015 0.038" quat="0.636 -0.30 0.64 0.307567" size="0.013 0.045"/>
		<geom type="box" pos="0.057 -0.008 0.025" euler="-.245 -.3 .86" size="0.045 0.025 0.0175"/>
		<geom type="cylinder" pos="0.02 0 -0.005" quat="0.707107 0 0.707107 0" size="0.038 0.025"/>
		<geom type="box" pos="0.11 0.01 -0.005"  quat="0.982936 0 0 -0.183947" size="0.045 0.015 0.03"/>
		<geom type="box" pos="0.09 -0.02 -0.005" quat="0.982936 0 0 -0.183947" size="0.045 0.015 0.03"/>
		<geom type="box" pos="0.06 -0.05 -0.005" quat="0.982936 0 0 -0.183947" size="0.045 0.015 0.03"/>
		<geom type="box" pos="0.044 0.04 -0.005" quat="0.922997 0 0 -0.384808" size="0.045 0.015 0.03"/>
		<body name="left_f0_base" pos="0.14 0 0" quat="0.988771 0 0 -0.149438" >
			<inertial pos="0 0 0" mass="0.25" diaginertia="0.00001 0.00001 0.00001" />
			<body name="left_f0_0" pos="0 0 0" euler="3.14 0 0">
			<!--<body name="left_f0_0" pos="0 0 0"  quat=".5 0 .5 0" >-->
				<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.106" diaginertia="0.000115 0.000115 0.000012" />
				<joint name="left_f0_j0" axis="0 0 -1"/>
				<geom class="sandia_vis" rgba=".2 .2 .2 1" mesh="f0" />
				<!--<geom type="cylinder" pos="0 0 0.003" size="0.015 0.0115"
				<geom type="cylinder" pos="0.011 0 0.003" quat="0.707107 0.707107 0 0" size="0.01 0.0115" -->
				<body name="left_f0_1" pos="0.028 0 0" quat="0.707107 -0.707107 0 0" >
					<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.033" diaginertia="0.000013 0.000013 0.000002" />
					<joint name="left_f0_j1"/>
					<geom class="sandia_vis" mesh="f1" />
					<!-- <geom type="cylinder" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.01 0.0335"/> -->
					<geom type="capsule" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.01 0.0235"/>
					<body name="left_f0_2" pos="0.05 0 0"  >
						<!--<body name="left_f0_2" pos="0.05 0 0"  quat=".5 0 0 .5" >-->
						<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.033" diaginertia="0.000010 0.000010 0.000001" />
						<joint name="left_f0_j2"/>
						<geom class="sandia_vis"  mesh="f2" />
						<!-- <geom type="cylinder" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.009 0.0285"/>
						<geom type="sphere" pos="0.052 0 0" size="0.009"/> -->
						<geom type="capsule" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.009 0.0275"/>
						<!-- <body name="left_f0_2_accel" pos="0.04 0 0" quat="0.707107 -0.707107 0 0" >
							<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
						</body> -->
					</body>
					<!-- <body name="left_f0_1_accel" pos="0.03 0 0" quat="0.707107 -0.707107 0 0" >
						<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
					</body> -->
				</body>
			</body>
			<!-- <body name="left_f0_fixed_accel" pos="-0.05 0 0" >
				<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
			</body> -->
		</body>
		<body name="left_f1_base" pos="0.115 -0.03122 0" quat="0.988771 0 0 -0.149438" >
			<inertial pos="0 0 0" mass="0.25" diaginertia="0.00001 0.00001 0.00001" />
			<body name="left_f1_0" pos="0 0 0" euler="3.14 0 0">
 				<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.106" diaginertia="0.000115 0.000115 0.000012" />
				<joint name="left_f1_j0" axis="0 0 -1"/>
				<geom class="sandia_vis" rgba=".2 .2 .2 1" mesh="f0" />
				<!-- <geom type="cylinder" pos="0 0 0.003" size="0.015 0.0115"
				<geom type="cylinder" pos="0.011 0 0.003" quat="0.707107 0.707107 0 0" size="0.01 0.0115" -->
				<body name="left_f1_1" pos="0.028 0 0" quat="0.707107 -0.707107 0 0" >
					<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.033" diaginertia="0.000013 0.000013 0.000002" />
					<joint name="left_f1_j1"/>
					<geom class="sandia_vis" mesh="f1" />
					<geom type="capsule" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.01 0.0235"/>
					<body name="left_f1_2" pos="0.05 0 0" >
						<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.033" diaginertia="0.000010 0.000010 0.000001" />
						<joint name="left_f1_j2"/>
						<geom class="sandia_vis"  mesh="f2" />
						<geom type="capsule" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.009 0.0275"/>
						<!-- <body name="left_f1_2_accel" pos="0.04 0 0" quat="0.707107 -0.707107 0 0" >
							<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
						</body> -->
					</body>
					<!-- <body name="left_f1_1_accel" pos="0.03 0 0" quat="0.707107 -0.707107 0 0" >
						<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
					</body> -->
				</body>
			</body>
			<!-- <body name="left_f1_fixed_accel" pos="-0.05 0 0" >
				<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
			</body> -->
		</body>
		<body name="left_f2_base" pos="0.09 -0.06245 0" quat="0.988771 0 0 -0.149438" >
			<inertial pos="0 0 0" mass="0.25" diaginertia="0.00001 0.00001 0.00001" />
			<body name="left_f2_0" pos="0 0 0" euler="3.14 0 0">
				<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.106" diaginertia="0.000115 0.000115 0.000012" />
				<joint name="left_f2_j0" axis="0 0 -1"/>
				<geom class="sandia_vis" rgba=".2 .2 .2 1" mesh="f0" />
				<!-- <geom type="cylinder" pos="0 0 0.003" size="0.015 0.0115"
				<geom type="cylinder" pos="0.011 0 0.003" quat="0.707107 0.707107 0 0" size="0.01 0.0115" -->
				<body name="left_f2_1" pos="0.028 0 0" quat="0.707107 -0.707107 0 0" >
					<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.033" diaginertia="0.000013 0.000013 0.000002" />
					<joint name="left_f2_j1"/>
					<geom class="sandia_vis"  mesh="f1" />
					<geom type="capsule" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.01 0.0235"/>
					<body name="left_f2_2" pos="0.05 0 0" >
						<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.033" diaginertia="0.000010 0.000010 0.000001" />
						<joint name="left_f2_j2"/>
						<geom class="sandia_vis"  mesh="f2" />
						<geom type="capsule" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.009 0.0275"/>
						<!-- <body name="left_f2_2_accel" pos="0.04 0 0" quat="0.707107 -0.707107 0 0" >
							<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
						</body> -->
					</body>
					<!-- <body name="left_f2_1_accel" pos="0.03 0 0" quat="0.707107 -0.707107 0 0" >
						<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
					</body> -->
				</body>
			</body>
			<!-- <body name="left_f2_fixed_accel" pos="-0.05 0 0" >
				<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
			</body> -->
		</body>
		<body name="left_f3_base" pos="0.03995 0.04383 0.014" quat="0.270596 0.653282 -0.270596 0.653282" >
			<inertial pos="0 0 0" mass="0.25" diaginertia="0.00001 0.00001 0.00001" />
			<body name="left_f3_0" pos="0 0 0">
				<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.106" diaginertia="0.000115 0.000115 0.000012" />
				<joint name="left_f3_j0" axis="0 0 -1"/>
				<geom contype="0" group="1" rgba=".2 .2 .2 1" mesh="f0" />
				<!-- <geom type="cylinder" pos="0 0 0.003" size="0.015 0.0115"
				<geom type="cylinder" pos="0.011 0 0.003" quat="0.707107 0.707107 0 0" size="0.01 0.0115" -->
				<body name="left_f3_1" pos="0.028 0 0" quat="0.707107 0.707107 0 0" >
					<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.033" diaginertia="0.000013 0.000013 0.000002" />
					<joint name="left_f3_j1"/>
					<geom class="sandia_vis"  mesh="f1" />
					<geom type="capsule" contype="0" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.01 0.0235"/>
					<body name="left_f3_2" pos="0.05 0 0" >
						<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.033" diaginertia="0.000010 0.000010 0.000001" />
						<joint name="left_f3_j2"/>
						<geom class="sandia_vis"  mesh="f2" />
						<geom type="capsule" contype="0" pos="0.024 0 0" quat="0.707107 0 0.707107 0" size="0.009 0.0275"/>
						<!-- <body name="left_f3_2_accel" pos="0.04 0 0" quat="0.707107 -0.707107 0 0" >
							<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
						</body> -->
					</body>
					<!-- <body name="left_f3_1_accel" pos="0.03 0 0" quat="0.707107 -0.707107 0 0" >
						<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
					</body> -->
				</body>
			</body>
			<!-- <body name="left_f3_fixed_accel" pos="-0.05 0 0" >
				<inertial pos="0 0 0" mass="0.01" diaginertia="0.000001 0.000001 0.000001" />
			</body> -->
		</body>
		<!--<body name="left_palm_left_camera_frame" pos="0.043513 -0.045167 0.025" quat="0.232742 0.667706 -0.232742 0.667706" >
			<inertial pos="0 0 0" mass="0.01" diaginertia="0.0001 0.0001 0.0001" />
			<geom type="box" contype="0" pos="0 0 0" size="0.0015 0.005 0.0035" />
			<site name="l_hand_camera_site" pos="0 0 0" quat="0.5 0.5 -0.5 -0.5" user="200" group="0"/>
			<body name="left_palm_left_camera_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"  user="-6004">
				<inertial pos="0 0 0" mass="0.001" diaginertia="0.000001 0.000001 0.000001" />
			</body>
		</body>
		<body name="left_palm_right_camera_frame" pos="0.068377 -0.013834 0.025" quat="0.232742 0.667706 -0.232742 0.667706" >
			<inertial pos="0 0 0" mass="0.01" diaginertia="0.0001 0.0001 0.0001" />
			<geom type="box" contype="0" pos="0 0 0" size="0.0015 0.005 0.0035" />
			<body name="left_palm_right_camera_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5" >
				<inertial pos="0 0 0" mass="0.001" diaginertia="0.000001 0.000001 0.000001" />
			</body>
		</body>-->
	</body>
</mujocoinclude>