<!-- ======================================================
	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>

	<default class="sandia">
		<site type="sphere" size="0.005"/>
		<joint limited="true" damping="20" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.570796 1.570796" stiffness="50"/>
		<geom group="0" contype="0" conaffinity="1" friction="0.7 0.1 0.1" rgba="0.5 0.6 0.7 1" margin="0.001"/>
		<position kp="1000" ctrllimited="true" ctrlrange="-1.57 1.57"/>
		<default class="sandia_vis">
			<geom group="1" contype="0" conaffinity="0" rgba="0.8 0.8 0.75 1" type="mesh"/>
		</default>
	</default>

	<asset>
		<mesh name="f0"         file="f0.STL"/>
		<mesh name="f1"         file="f1.STL"/>
		<mesh name="f2"         file="f2.STL"/>
	</asset>

</mujocoinclude>
