<?xml version="1.0" encoding="utf-8"?>
<mujoco>
    <compiler angle="degree" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
    <option timestep="0.002" iterations="20" apirate="200">
        <flag warmstart="enable"></flag>
    </option>

    <!-- from shared.xml -->
    <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>
        <joint armature="1" damping="1" limited="true" />
        <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" forcelimited="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="robot0:C_thdistal" condim="1"></pair> -->
    </contact>

    <sensor>
        <!-- <jointpos name="robot0:Sjp_WRJ1" joint="robot0:WRJ1"></jointpos>-->
    </sensor>

    <actuator>
        <!-- <position name="robot0:A_WRJ1" class="robot0:asset_class" user="2038" joint="robot0:WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position>-->
    </actuator>

    <asset>
        <include file="shared_asset.xml"></include>

        <texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
        <texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>

        <material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
        <material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
        <material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
    </asset>
    <worldbody>
        <body name="torso" pos="1 1.15 0.1">
            <geom name="torso_geom" pos="0 0 0" size="0.05" type="sphere"/>
            <body pos="0 0 0" name="body_0">
                <geom fromto="0.0 -0.05 0.0 0.0 -0.2 0.0" name="geom_0" size="0.016" type="capsule"/>
                <joint axis="0 0 1" name="joint_0_1" pos="0.0 -0.05 0.0" range="-1 1" type="hinge"/>
            </body>
        </body>
    </worldbody>
</mujoco>