<mujocoinclude>

    <!--Palm-->
    <body name="palm" pos="0 0 0" childclass="dhand">
        <geom name="skeleton_mesh" mesh="skeleton" rgba="1 1 1 1" pos="-0.001 0 0.1032" class="viz_dhand"/>
        <geom name="Palmcenter" type="mesh" mesh="PalmC" pos="-0.001 0 0.1032" class="col_dhand"/>
        <geom name="Palmright" type="mesh" mesh="PalmR" pos="-0.001 0 0.1032" class="col_dhand"/>
        <geom name="Palmleft1" type="mesh" mesh="PalmL1" pos="-0.001 0 0.1032" class="col_dhand"/>
        <geom name="Palmleft2" type="mesh" mesh="PalmL2" pos="-0.001 0 0.1032" class="col_dhand"/>


        <!--Plate-->
          <geom name="plate1_mesh" mesh="plate" pos="0 -0.0255 0.1032" class="viz_dhand"/>
          <geom name="plate2_mesh" mesh="plate" pos="0 0.0235 0.1032" class="viz_dhand"/>
          
          <site name="Pmag11" type="box" pos="-0.05 -0.0255 0.1016" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag12" type="box" pos="-0.03 -0.0255 0.1016" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag15" type="box" pos="0.03 -0.0255 0.1016" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag16" type="box" pos="0.05 -0.0255 0.1016" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag21" type="box" pos="-0.05 -0.0255 0.0816" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag22" type="box" pos="-0.03 -0.0255 0.0816" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag23" type="box" pos="-0.01 -0.0255 0.0816" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag24" type="box" pos="0.01 -0.0255 0.0816" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag25" type="box" pos="0.03 -0.0255 0.0816" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag26" type="box" pos="0.05 -0.0255 0.0816" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag31" type="box" pos="-0.05 -0.0255 0.0616" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag32" type="box" pos="-0.03 -0.0255 0.0616" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag33" type="box" pos="-0.01 -0.0255 0.0616" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag34" type="box" pos="0.01 -0.0255 0.0616" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag35" type="box" pos="0.03 -0.0255 0.0616" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag36" type="box" pos="0.05 -0.0255 0.0616" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag41" type="box" pos="-0.05 -0.0255 0.0416" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag42" type="box" pos="-0.03 -0.0255 0.0416" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag43" type="box" pos="-0.01 -0.0255 0.0416" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag44" type="box" pos="0.01 -0.0255 0.0416" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag45" type="box" pos="0.03 -0.0255 0.0416" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag46" type="box" pos="0.05 -0.0255 0.0416" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag51" type="box" pos="-0.05 -0.0255 0.0216" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag52" type="box" pos="-0.03 -0.0255 0.0216" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag53" type="box" pos="-0.01 -0.0255 0.0216" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag54" type="box" pos="0.01 -0.0255 0.0216" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag55" type="box" pos="0.03 -0.0255 0.0216" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag56" type="box" pos="0.05 -0.0255 0.0216" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag62" type="box" pos="-0.03 -0.0255 0.0016" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag63" type="box" pos="-0.01 -0.0255 0.0016" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag64" type="box" pos="0.01 -0.0255 0.0016" size="0.003 0.001 0.003" class="viz_dhand"/>
            <site name="Pmag65" type="box" pos="0.03 -0.0255 0.0016" size="0.003 0.001 0.003" class="viz_dhand"/>
          <!-- <include file="assets/dmanus_skin/palm_skin.xml"/> -->
        <!--Thumb finger-->
        <body name="Thumb_finger" pos="0.0343 0.0015 0.027" euler="0 1.92 0">
            <geom name="X4307_mesh" mesh="X430" pos="0 0 0" class="viz_dhand"/>

                <body name="thumb_proximal" pos="0 0 0.03475">
                    <geom name="FR1212" type="box" pos="0 -0.0034 0.0125" size="0.012 0.023875 0.015" class="col_dhand"/>
                    <geom name="FR1212_mesh" mesh="FR121" pos="0 0 0" class="viz_dhand"/>
                    <geom name="thumb_cover_mesh" mesh="thumb_cover" pos=" 0 -0.0206 -0.01" euler="0 3.14 3.14" rgba="1 1 1 1" class="viz_dhand"/>
                    <geom name="X4308" type="box" pos="0 -0.0045 0.0418" size="0.02325 0.01425 0.017" euler="1.57 1.57 0" class="col_dhand"/>
                    <geom name="X4308_mesh" mesh="X430" pos="0 0.01875 0.042" euler="1.57 0 1.57" class="viz_dhand"/>
                    <joint name="TFJ1" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-1.3 0.75"/>

                    <body name="thumb_middle" pos="-0.001 -0.0165 0.042">
                        <geom name="FR1232" type="box" pos="0 0 0.0275" size="0.021 0.0123 0.0275" euler="0.114 0 0" class="col_dhand"/>
                        <geom name="FR1232_mesh" mesh="FR123" pos="0 0 0" class="viz_dhand"/>
                        <geom name="cover3_mesh" mesh="covering" pos="0 -0.0148 0.048" rgba="1 1 1 1" euler="0 0 3.14" class="viz_dhand"/>
                        <geom name="X4309" type="box" pos="0 0 0.078" size="0.01425 0.017 0.02325" euler="0 0 1.57" class="col_dhand"/>
                        <geom name="X4309_mesh" mesh="X430" pos="0 0 0.055" euler="0 0 1.57" class="viz_dhand"/>
                        <joint name="TFJ2" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-0.65 2.14"/>

                        <body name="thumb_distal" pos="0 0 0.09025">
                            <geom name="FR1312" type="box" pos="0 0 0.014" size="0.0205 0.012 0.014" class="col_dhand"/>
                            <geom name="FR1312_mesh" mesh="FR121" pos="0 0 0" euler="0 0 1.57" class="viz_dhand"/>
                           <!-- <geom name="fingertip3" type="box" pos="0 0 0.071" size="0.01 0.012 0.043" class="col_dhand"/> -->
                            <geom name="fingertip3_mesh" mesh="fingertip" pos="0 0 0.028" class="viz_dhand"/>
                            <geom name="convextip3" type="mesh" mesh="fingertipc" pos="0 0 0.028" class="col_dhand"/>
                            
                            <site name="TFmag11" type="box" pos="-0.005 -0.015 0.04" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="TFmag12" type="box" pos="0.005 -0.015 0.04" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="TFmag21" type="box" pos="-0.005 -0.015 0.055" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="TFmag22" type="box" pos="0.005 -0.015 0.055" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="TFmag31" type="box" pos="-0.005 -0.015 0.070" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="TFmag32" type="box" pos="0.005 -0.015 0.070" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="TFmag41" type="box" pos="-0.005 -0.015 0.085" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="TFmag42" type="box" pos="0.005 -0.015 0.085" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <!-- <include file="assets/dmanus_skin/thumb_skin.xml"/> -->

                            <joint name="TFJ3" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-2.0 2.0"/>
                        </body>
                    </body>
                </body>
        </body>
        <!--Thumb finger end-->

        <!--Index Finger-->
        <body name="index_finger" pos="0.0445 0.002 0.06325">
            <geom name="X430_mesh" mesh="X430" pos="0 0 0" class="viz_dhand"/>

            <body name="index_proximal" pos="0 0 0.03475">
                <geom name="FR1210" type="box" pos="0 0 0.01308" size="0.012 0.0205 0.015" class="col_dhand"/>
                <geom name="FR1210_mesh" mesh="FR121" pos="0 0 0" class="viz_dhand"/>
                <geom name="X4302" type="box" pos="0 -0.0045 0.0418" size="0.02325 0.01425 0.017" euler="1.57 1.57 0" class="col_dhand"/>
                <geom name="X4302_mesh" mesh="X430" pos="0 0.01875 0.042" euler="1.57 0 1.57" class="viz_dhand"/>
                <joint name="IFJ1" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-0.75 2.05"/>

                <body name="index_middle" pos="-0.001 -0.0165 0.042">
                    <geom name="FR1230" type="box" pos="0 0 0.0275" size="0.021 0.0123 0.0275" euler="0.114 0 0" class="col_dhand"/>
                    <geom name="FR1230_mesh" mesh="FR123" pos="0 0 0" class="viz_dhand"/>
                    <geom name="cover1_mesh" mesh="covering" pos="0 -0.0148 0.048" rgba="1 1 1 1" euler="0 0 3.14" class="viz_dhand"/>
                    <!-- <geom name="cover1" type="box" pos="0.027 0 0.085" size="0.019 0.014 0.0155" class="col_dhand"/> -->
                    <geom name="X4303" type="box" pos="0 0 0.078" size="0.01425 0.017 0.02325" euler="0 0 1.57" class="col_dhand"/>
                    <geom name="X4303_mesh" mesh="X430" pos="0 0 0.055" euler="0 0 1.57" class="viz_dhand"/>
                    <joint name="IFJ2" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-0.65 2.14"/>

                    <body name="index_distal" pos="0 0 0.09025">
                        <geom name="FR1310" type="box" pos="0 0 0.014" size="0.0205 0.012 0.014" class="col_dhand"/>
                        <geom name="FR1310_mesh" mesh="FR121" pos="0 0 0" euler="0 0 1.57" class="viz_dhand"/>
                      <!--  <geom name="fingertip" type="box" pos="0 0 0.071" size="0.01 0.012 0.043" class="col_dhand"/> -->
                        <geom name="fingertip_mesh" mesh="fingertip" pos="0 0 0.028" class="viz_dhand"/>
                        <geom name="convextip1" type="mesh" mesh="fingertipc" pos="0 0 0.028" class="col_dhand"/>
                        <!-- <include file="assets/dmanus_skin/indexf_skin.xml"/> -->

                        <site name="IFmag11" type="box" pos="-0.005 -0.015 0.04" size="0.003 0.001 0.003" class="viz_dhand"/>
                        <site name="IFmag12" type="box" pos="0.005 -0.015 0.04" size="0.003 0.001 0.003" class="viz_dhand"/>
                        <site name="IFmag21" type="box" pos="-0.005 -0.015 0.055" size="0.003 0.001 0.003" class="viz_dhand"/>
                        <site name="IFmag22" type="box" pos="0.005 -0.015 0.055" size="0.003 0.001 0.003" class="viz_dhand"/>
                        <site name="IFmag31" type="box" pos="-0.005 -0.015 0.070" size="0.003 0.001 0.003" class="viz_dhand"/>
                        <site name="IFmag32" type="box" pos="0.005 -0.015 0.070" size="0.003 0.001 0.003" class="viz_dhand"/>
                        <site name="IFmag41" type="box" pos="-0.005 -0.015 0.085" size="0.003 0.001 0.003" class="viz_dhand"/>
                        <site name="IFmag42" type="box" pos="0.005 -0.015 0.085" size="0.003 0.001 0.003" class="viz_dhand"/>

                        <joint name="IFJ3" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-2.0 2.0"/>
                    </body>
                </body>
            </body>
        </body>
        <!--Index Finger end-->

        <!--Little Finger-->
        <body name="little_finger" pos="-0.0445 0.002 0.06325">
                <geom name="X4304_mesh" mesh="X430" pos="0 0 0" class="viz_dhand"/>

                <body name="little_proximal" pos="0 0 0.03475">
                    <geom name="FR1211" type="box" pos="0 0 0.0125" size="0.012 0.0205 0.015" class="col_dhand"/>
                    <geom name="FR1211_mesh" mesh="FR121" pos="0 0 0" class="viz_dhand"/>
                    <geom name="X4305" type="box" pos="0 -0.0045 0.0418" size="0.02325 0.01425 0.017" euler="1.57 1.57 0" class="col_dhand"/>
                    <geom name="X4305_mesh" mesh="X430" pos="0 0.01875 0.042" euler="1.57 0 1.57" class="viz_dhand"/>
                    <joint name="LFJ1" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-2.05 0.75"/>

                    <body name="little_middle" pos="-0.001 -0.0165 0.042">
                        <geom name="FR1231" type="box" pos="0 0 0.0275" size="0.021 0.0123 0.0275" euler="0.114 0 0w" class="col_dhand"/>
                        <geom name="FR1231_mesh" mesh="FR123" pos="0 0 0" class="viz_dhand"/>
                        <geom name="cover2_mesh" mesh="covering" pos="0 -0.0148 0.048" rgba="1 1 1 1" euler="0 0 3.14" class="viz_dhand"/>
                        <geom name="X4306" type="box" pos="0 0 0.078" size="0.01425 0.017 0.02325" euler="0 0 1.57" class="col_dhand"/>
                        <geom name="X4306_mesh" mesh="X430" pos="0 0 0.055" euler="0 0 1.57" class="viz_dhand"/>
                        <joint name="LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-0.65 2.14"/>

                        <body name="little_distal" pos="0 0 0.09025">
                            <geom name="FR1311" type="box" pos="0 0 0.014" size="0.0205 0.012 0.014" class="col_dhand"/>
                            <geom name="FR1311_mesh" mesh="FR121" pos="0 0 0" euler="0 0 1.57" class="viz_dhand"/>
                          <!--  <geom name="fingertip2" type="box" pos="0 0 0.071" size="0.01 0.012 0.043" class="col_dhand"/> -->
                            <geom name="fingertip2_mesh" mesh="fingertip" pos="0 0 0.028" class="viz_dhand"/>
                            <geom name="convextip2" type="mesh" mesh="fingertipc" pos="0 0 0.028" class="col_dhand"/>
                            
                            <!-- <include file="assets/dmanus_skin/littlef_skin.xml"/> -->
                            <site name="LFmag11" type="box" pos="-0.005 -0.015 0.04" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="LFmag12" type="box" pos="0.005 -0.015 0.04" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="LFmag21" type="box" pos="-0.005 -0.015 0.055" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="LFmag22" type="box" pos="0.005 -0.015 0.055" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="LFmag31" type="box" pos="-0.005 -0.015 0.070" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="LFmag32" type="box" pos="0.005 -0.015 0.070" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="LFmag41" type="box" pos="-0.005 -0.015 0.085" size="0.003 0.001 0.003" class="viz_dhand"/>
                            <site name="LFmag42" type="box" pos="0.005 -0.015 0.085" size="0.003 0.001 0.003" class="viz_dhand"/>

                            <joint name="LFJ3" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-2.0 2.0"/>
                        </body>
                    </body>
                </body>
        </body>
        <!--Little finger end-->

    </body>
</mujocoinclude>