<!-- See LICENSE.md for legal notices. LICENSE.md must be kept together with this file. -->
<mujoco>
    <size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000"></size>

    <visual>
        <map fogstart="3" fogend="5" force="0.1"></map>
        <quality shadowsize="4096"></quality>
    </visual>

    <default>
        <default class="robot0:asset_class">
            <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
            <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
            <site size="0.005" rgba="0.4 0.9 0.4 1"></site>
            <general ctrllimited="true"></general>
        </default>
        <default class="robot0:D_Touch">
            <site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
        </default>
        <default class="robot0:DC_Hand">
            <geom material="robot0:MatColl" contype="1" conaffinity="0" group="4"></geom>
        </default>
        <default class="robot0:D_Vizual">
            <geom material="robot0:MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
        </default>
        <default class="robot0:free">
            <joint type="free" damping="0" armature="0" limited="false"></joint>
        </default>
    </default>
    
    <contact>
        <pair geom1="robot0:C_ffdistal" geom2="object" condim="6" />
        <pair geom1="robot0:C_ffdistal" geom2="object_1" condim="6" />
        <pair geom1="robot0:C_ffdistal" geom2="object_2" condim="6" />
        <pair geom1="robot0:C_ffdistal" geom2="object_3" condim="6"/>
        <!--pair geom1="wall0" geom2="object" condim="3" friction="3 1 0.5 0.0001 0.0001"/-->
        <pair geom1="wall1" geom2="object" condim="4" friction="0.3 0.3"/>
        <pair geom1="wall1" geom2="object_1" condim="4" friction="0.3 0.3"/>
        <pair geom1="wall1" geom2="object_2" condim="4" friction="0.3 0.3"/>
        <pair geom1="wall1" geom2="object_3" condim="4" friction="0.3 0.3"/>
    </contact>


    <sensor>
        <jointpos name="robot0:Sjp_WRJ2" joint="robot0:WRJ2"></jointpos>
        <jointpos name="robot0:Sjp_WRJ1" joint="robot0:WRJ1"></jointpos>
        <jointpos name="robot0:Sjp_WRJ0" joint="robot0:WRJ0"></jointpos>
        <touch name="robot0:ST_Tch_fftip" site="robot0:grip"></touch>
        <touch name="object_frc" site="objectfrc"></touch>
    </sensor>

    <actuator>
        <position name="robot0:A_WRJ2" class="robot0:asset_class" user="2040" joint="robot0:WRJ2" ctrlrange="-0.5 0.5" kp="500"></position>
        <position name="robot0:A_WRJ1" class="robot0:asset_class" user="2038" joint="robot0:WRJ1" ctrlrange="-0.5 0.5" kp="500"></position>
        <position name="robot0:A_WRJ0" class="robot0:asset_class" user="2036" joint="robot0:WRJ0" ctrlrange="-1 1" kp="50"></position>
    </actuator>
</mujoco>
