<!-- ======================================================
	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>
	<asset>
		<mesh name="r_palm"		file="r_palm.STL"/>
	</asset>

	<actuator>
		<position name="A_right_f0_j0" joint="right_f0_j0"/>
		<position name="A_right_f0_j1" joint="right_f0_j1"/>
		<position name="A_right_f0_j2" joint="right_f0_j2"/>
		<position name="A_right_f1_j0" joint="right_f1_j0"/>
		<position name="A_right_f1_j1" joint="right_f1_j1"/>
		<position name="A_right_f1_j2" joint="right_f1_j2"/>
		<position name="A_right_f2_j0" joint="right_f2_j0"/>
		<position name="A_right_f2_j1" joint="right_f2_j1"/>
		<position name="A_right_f2_j2" joint="right_f2_j2"/>
		<position name="A_right_f3_j0" joint="right_f3_j0"/>
		<position name="A_right_f3_j1" joint="right_f3_j1"/>
		<position name="A_right_f3_j2" joint="right_f3_j2"/>
	</actuator>

</mujocoinclude>
