<!-- ======================================================
	Model 		:: ADROIT MANIPULATION PLATFORM
		Sources		: Manipulator and Manipulation in High Dimensional Spaces. Vikash Kumar, Ph.D. Thesis, CSE, Univ. of Washington. 2016.
					: Shadow robot company (https://github.com/shadow-robot/sr_common)
 
	Mujoco		:: Advanced physics simulation engine
		Source		: www.roboti.us
		Version		: 1.50
		Released 	: 17Jan'17
		
	Author		:: Vikash Kumar
		Contacts 	: vikash@cs.washington.edu
		Last edits 	: 17Jan'17

	Copyright 	:: Vikash Kumar
		Licensed under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -->

<mujocoinclude>
	<body name="forearm" childclass="Adroit" pos="0 0 0" euler="0 0 0">
		<inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0.000 -0.188" mass="4" diaginertia="0.01 0.01 0.0075" />
		<!--<joint name="base" type="free" limited="false"/>-->
		<geom class="D_Vizual" pos="0 -.01 .181" name="V_forearm"  mesh="forearm" euler="0 0 -1.57"/>
		<geom class="DC_Hand" name="C_forearm" type="mesh" mesh="forearm_cvx" pos="0 -.01 .181" euler="0 0 -1.57" rgba=".4 .5 .6 .7"/>

		<!--<site name="S_CY36" pos=" 0.034 -0.023 0.123" group="0" />
		<site name="S_CY38" pos="-0.036  0.009 0.123" group="0" />-->



		<!-- ======= Wrist ======= -->
		<body name="wrist" pos="0 0 0.396">
			<inertial pos="0.003 0.000 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001" />
			<joint name="WRJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.175" damping=".5" armature=".005" user="1123"/>
			<geom class="D_Vizual" name="V_wrist" mesh="wrist"/>
			<geom class="DC_Hand" name="C_wrist" type="capsule" pos="0 0 0"  quat=".707 .707 0 0" size=".015 .01" rgba=".4 .5 .6 .1"/>
			<!--<site name="S_WRJ1l" pos=" 0.0380 0 0.01625" group="0"/>
			<site name="S_WRJ1r" pos="-0.0326 0 0.01625" group="0"/>-->



			<!-- ======= Palm ======= -->
			<body name="palm" pos="0 0 0.034">
				<inertial pos="0.006 -0.000 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001" />
				<joint name="WRJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 0.611" damping=".5" armature=".005" user="1122"/>
				<geom class="D_Vizual" name="V_palm" mesh="palm"/>
				<geom class="DC_Hand" name="C_palm0" type="box" pos="0.011 0 0.038" size=".032 .0111 .049" rgba=".4 .5 .6 .1"/>
				<geom class="DC_Hand" name="C_palm1" type="box" pos="-.032 0 0.014" size=".011 .0111 .025" rgba=".4 .5 .6 .1"/>
				<site name="S_grasp" 	 pos=".007 -.04 0.07" quat="0.0087 -0.6 -0.0034 -0.81  " group="4"/>


				<!-- ======= First Finger ======= -->
				<body name="ffknuckle" pos="0.033 0 0.095">
					<inertial pos="-0.000 0.000 0.000" quat="0.520 0.854 0.006 -0.003" mass="0.008" diaginertia="0.00001 0.00001 0.00001"/>
					<joint name="FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.436 0.436"  user="1103"/>
					<geom class="D_Vizual" name="V_ffknuckle" mesh="knuckle"/>
					<!--Proximal-->
					<body name="ffproximal" pos="0 0 0">
						<inertial pos="0.000 0.000 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="0.00001 0.00001 0.00001"/>
						<joint name="FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1102"/>
						<geom class="D_Vizual" name="V_ffproximal" mesh="F3"/>
						<geom class="DC_Hand" name="C_ffproximal" type="capsule" pos="0 0 .0225" size=".01 .0225"/>
						<!--middle-->
						<body name="ffmiddle" pos="0 0 0.045">
							<inertial pos="-0.000 -0.000 0.011" quat="0.707 0.000 -0.000 0.707" mass="0.012" diaginertia="0.00001 0.00001 0.00001"/>
							<joint name="FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1101"/>
							<geom class="D_Vizual" name="V_ffmiddle" mesh="F2"/>
							<geom class="DC_Hand" name="C_ffmiddle" type="capsule" pos="0 0 .0125" size=".00805 .0125"/>
							<!--distal-->
							<body name="ffdistal" pos="0 0 0.025">
								<inertial pos="0 -0.000 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.010" diaginertia="0.00001 0.00001 0.00001"/>
								<joint name="FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1100"/>
								<geom class="D_Vizual" name="V_ffdistal" pos="0 0 .001" mesh="F1"/>
								<geom class="DC_Hand" name="C_ffdistal" type="capsule" pos="0 0 .012" size=".00705 .012"  condim="4"/>
								<site name="S_fftip" pos="0.000 0 0.026" group="3"/>
								<site class="D_Touch" name="Tch_fftip"/>
							</body>
						</body>
					</body>
				</body> <!--First Finger End-->



				<!-- ======= Middle Finger ======= -->
				<body name="mfknuckle" pos="0.011 0 0.099">
					<inertial pos="-0.000 0.000 0.000" quat="0.520 0.854 0.006 -0.003" mass="0.008" diaginertia="0.00001 0.00001 0.00001"/>
					<joint name="MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.436 0.436"  user="1107"/>
					<geom class="D_Vizual" name="V_mfknuckle" mesh="knuckle"/>
					<!--Proximal-->
					<body name="mfproximal" pos="0 0 0">
						<inertial pos="0.000 0.000 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="0.00001 0.00001 0.00001"/>
						<joint name="MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1106"/>
						<geom class="D_Vizual" name="V_mfproximal" mesh="F3"/>
						<geom class="DC_Hand" name="C_mfproximal" type="capsule" pos="0 0 .0225" size=".01 .0225"/>
						<!--Middle-->
						<body name="mfmiddle" pos="0 0 0.045">
							<inertial pos="-0.000 -0.000 0.012" quat="0.707 0.000 -0.000 0.707" mass="0.012" diaginertia="0.00001 0.00001 0.00001"/>
							<joint name="MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1105"/>
							<geom class="D_Vizual" name="V_mfmiddle" mesh="F2"/>
							<geom class="DC_Hand" name="C_mfmiddle" type="capsule" pos="0 0 .0125" size=".00805 .0125"/>
							<!--Distal-->
							<body name="mfdistal" pos="0 0 0.025">
								<inertial pos="0 -0.000 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.010" diaginertia="0.00001 0.00001 0.00001"/>
								<joint name="MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1104"/>
								<geom class="D_Vizual" name="V_mfdistal" mesh="F1"/>
								<geom class="DC_Hand" name="C_mfdistal" type="capsule" pos="0 0 .012" size=".00705 .012" condim="4"/>
								<site name="S_mftip" 	pos="0.000 0 0.026"	group="3"/>
								<site class="D_Touch" name="Tch_mftip"/>
							</body>
						</body>
					</body>
				</body> <!--Middle Finger End-->



				<!-- ======= Ring Finger ======= -->
				<body name="rfknuckle" pos="-0.011 0 0.095">
					<inertial pos="-0.000 0.000 0.000" quat="0.520 0.854 0.006 -0.003" mass="0.008" diaginertia="0.00001 0.00001 0.00001"/>
					<joint name="RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.436 0.436"  user="1111"/>
					<geom class="D_Vizual" name="V_rfknuckle" mesh="knuckle"/>
					<!--Proximal-->
					<body name="rfproximal" pos="0 0 0">
						<inertial pos="0.000 0.000 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="0.00001 0.00001 0.00001"/>
						<joint name="RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1110"/>
						<geom class="D_Vizual" name="V_rfproximal" mesh="F3"/>
						<geom class="DC_Hand" name="C_rfproximal" type="capsule" pos="0 0 .0225" size=".01 .0225"/>
						<!--Middle-->
						<body name="rfmiddle" pos="0 0 0.045">
							<inertial pos="-0.000 -0.000 0.012" quat="0.707 0.000 -0.000 0.707" mass="0.012" diaginertia="0.00001 0.00001 0.00001"/>
							<joint name="RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1109"/>
							<geom class="D_Vizual" name="V_rfmiddle" mesh="F2"/>
							<geom class="DC_Hand" name="C_rfmiddle" type="capsule" pos="0 0 .0125" size=".00805 .0125"/>
							<!--Distal-->
							<body name="rfdistal" pos="0 0 0.025">
								<inertial pos="0 -0.000 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.010" diaginertia="0.00001 0.00001 0.00001"/>
								<joint name="RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1108"/>
								<geom class="D_Vizual" name="V_rfdistal" mesh="F1" pos="0 0 .001"/>
								<geom class="DC_Hand" name="C_rfdistal" type="capsule" pos="0 0 .012" size=".00705 .012" condim="4"/>
								<site name="S_rftip" 	pos="0.000 0 0.026"	group="3"/>
								<site class="D_Touch" name="Tch_rftip"/>
							</body>
						</body>
					</body>
				</body> <!--Ring Finger End-->



				<!-- ======= Little Finger ======= -->
				<body name="lfmetacarpal" pos="-0.017 0 0.044">
					<inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="0.00001 0.00001 0.00001"/>
					<joint name="LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.698"  user="1116"/>
					<geom class="D_Vizual" name="V_lfmetacarpal" pos="-0.016 0.000 -0.023" mesh="lfmetacarpal"/>
					<geom class="DC_Hand" name="C_lfmetacarpal" type="box" pos="-.0165 0 0.01" size=".0095 .0111 .025" rgba=".4 .5 .6 .2"/>
					<!--Knuckle-->
					<body name="lfknuckle" pos="-0.017 0 0.044">
						<inertial pos="-0.000 0.000 0.000" quat="0.520 0.854 0.006 -0.003" mass="0.008" diaginertia="0.00001 0.00001 0.00001"/>
						<joint name="LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.436 0.436"  user="1115"/>
						<geom class="D_Vizual" name="V_lfknuckle" mesh="knuckle"/>
						<!--Proximal-->
						<body name="lfproximal" pos="0 0 0">
							<inertial pos="0.000 0.000 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="0.00001 0.00001 0.00001"/>
							<joint name="LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1114"/>
							<geom class="D_Vizual" name="V_lfproximal" mesh="F3"/>
							<geom class="DC_Hand" name="C_lfproximal" type="capsule" pos="0 0 .0225" size=".01 .0225"/>
							<!--Middle-->
							<body name="lfmiddle" pos="0 0 0.045">
								<inertial pos="-0.000 -0.000 0.012" quat="0.707 0.000 -0.000 0.707" mass="0.012" diaginertia="0.00001 0.00001 0.00001"/>
								<joint name="LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1113"/>
								<geom class="D_Vizual" name="V_lfmiddle" mesh="F2"/>
								<geom class="DC_Hand" name="C_lfmiddle" type="capsule" pos="0 0 .0125" size=".00805 .0125"/>
								<!--Distal-->
								<body name="lfdistal" pos="0 0 0.025">
									<inertial pos="0 -0.000 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.010" diaginertia="0.00001 0.00001 0.00001"/>
									<joint name="LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571"  user="1112"/>
									<geom class="D_Vizual" name="V_lfdistal" mesh="F1" pos="0 0 .001"/>
									<geom class="DC_Hand" name="C_lfdistal" type="capsule" pos="0 0 .012" size=".00705 .012" condim="4"/>
									<site name="S_lftip" 	pos="0.000 0 0.026"	group="3"/>
									<site class="D_Touch" name="Tch_lftip"/>
								</body>
							</body>
						</body>
					</body>
				</body> <!--Little Finger End-->



				<!-- ======= Thumb Finger ======= -->
				<body name="thbase" pos="0.034 -0.009 0.029" axisangle="0  1 0  0.785" >
					<inertial pos="0 0 0" mass="0.010" diaginertia="0.00001 0.00001 0.00001"/>
					<joint name="THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047"  user="1121"/>
					<geom class="D_Vizual" name="V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001" />
					<!--Proximal-->
					<body name="thproximal" pos="0 0 0">
						<inertial pos="-0.000 -0.000 0.017" quat="0.982 -0.000 0.001 0.191" mass="0.016" diaginertia="0.00001 0.00001 0.00001"/>
						<joint name="THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.309"  user="1120"/>
						<geom class="D_Vizual" name="V_thproximal" mesh="TH3_z"/>
						<geom class="DC_Hand" name="C_thproximal" type="capsule" pos="0 0 .019" size=".013 .019" rgba=".4 .5 .6 .1"/>
						<!--Hub-->
						<body name="thhub" pos="0 0 0.038">
							<inertial pos="0 0 0" mass="0.002" diaginertia="0.00001 0.00001 0.00001"/>
							<joint name="THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.262 0.262"  user="1119"/>
							<geom class="D_Vizual" name="V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"/>
							<!--Middle-->
							<body name="thmiddle" pos="0 0 0">
								<inertial pos="0.000 -0.000 0.016" quat="1.000 -0.001 -0.007 0.003" mass="0.016" diaginertia="0.00001 0.00001 0.00001"/>
								<joint name="THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524"  user="1118"/>
								<geom class="D_Vizual" name="V_thmiddle" mesh="TH2_z"/>
								<geom class="DC_Hand" name="C_thmiddle" type="capsule" pos="0 0 .016" size=".011 .016"/>
								<!--Distal-->
								<body name="thdistal" pos="0 0 0.032">
									<inertial pos="0.000 -0.000 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="0.00001 0.00001 0.00001"/>
									<joint name="THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0"  user="1117"/>
									<geom class="D_Vizual" name="V_thdistal" mesh="TH1_z"/>
									<geom class="DC_Hand" name="C_thdistal" type="capsule" pos="0 0 .013" size=".00918 .013" condim="4"/>
									<site name="S_thtip" 	pos="0.000 0 0.0275" group="3"/>
									<site class="D_Touch" name="Tch_thtip" size="0.005 0.011 0.016" pos="-.005 0 0.02" />
								</body>
							</body>
						</body>
					</body>
				</body> <!--Thumb Finger End-->
			</body> <!--Palm Ends-->
		</body> <!--Wrist Ends-->
	</body> <!--Forearm/ Hand Actuation Ends-->

</mujocoinclude>
