<!--
 ~ Copyright 2019 The ROBEL Authors.
 ~
 ~ Licensed under the 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.
 -->

<?xml version="1.0"?>
<mujocoinclude>
  <body name="_dclaw" euler="3.14 0 0" childclass="overlay">
    <geom mesh="acrylic_circle"/>
    <!-- INDEX/FIRST FINGER -->
    <body name="_FFbase" pos=".03 -0.052 .003" euler="0 0 .52">
      <geom mesh="xh28" pos="0 0 0.01425" euler="1.57 0 1.57"/>
      <body name="_FF10" pos="0 0 0.01425" euler="0 0 3.14">
        <geom mesh="metal_clamping" euler="0 0 1.57"/>
        <geom mesh="metal_clamping_small" pos="0 0 0.055" euler="3.14 0 0"/>
        <geom mesh="xh28" pos="0 0 0.068" euler="1.57 1.57 0"/>
        <joint name="_FFJ10" type="hinge" axis="0 1 0" range="-.45 1.35"/>
        <body name="_FFL11" pos="0 0 0.0675">
          <geom mesh="metal_clamping_small" pos="0 0 0.055" euler="3.14 0 0"/>
          <geom mesh="xh28" pos="0 0 0.0686" euler="1.57 1.57 0"/>
          <geom mesh="metal_clamping"/>
          <joint name="_FFJ11" type="hinge" axis="1 0 0" range="-2 2"/>
          <body name="_FFL12" pos="0 0 0.068">
            <geom mesh="metal_clamping"/>
            <geom mesh="plastic_finger" pos="0 0 0.046"/>
            <joint name="_FFJ12" type="hinge" axis="1 0 0" range="-2 2"/>
            <site name="_FFtip" type="sphere" pos="0 0 .076" size="0.01" rgba="1 .3 .3 1"/>
          </body>
        </body>
      </body>
    </body>
    <!-- MIDDLE FINGER -->
    <body name="_MFbase" pos=".03 0.052 .003" euler="0 0 2.62">
      <geom mesh="xh28" pos="0 0 0.01425" euler="1.57 0 1.57"/>
      <body name="_MF20" pos="0 0 0.01425" euler="0 0 3.14">
        <geom mesh="metal_clamping" euler="0 0 1.57"/>
        <geom mesh="metal_clamping_small" pos="0 0 0.055" euler="3.14 0 0"/>
        <geom mesh="xh28" pos="0 0 0.068" euler="1.57 1.57 0"/>
        <joint name="_MFJ20" type="hinge" axis="0 1 0" range="-.45 1.35"/>
        <body name="_MFL21" pos="0 0 0.0675">
          <geom mesh="metal_clamping_small" pos="0 0 0.055" euler="3.14 0 0"/>
          <geom mesh="xh28" pos="0 0 0.0686" euler="1.57 1.57 0"/>
          <geom mesh="metal_clamping"/>
          <joint name="_MFJ21" type="hinge" axis="1 0 0" range="-2 2"/>
          <body name="_MFL22" pos="0 0 0.068">
            <geom mesh="metal_clamping"/>
            <geom mesh="plastic_finger" pos="0 0 0.046"/>
            <joint name="_MFJ22" type="hinge" axis="1 0 0" range="-2 2"/>
            <site name="_MFtip" type="sphere" pos="0 0 .076" size="0.01" rgba=".3 1 .3 1"/>
          </body>
        </body>
      </body>
    </body>
    <!-- THUMB -->
    <body name="_THbase" pos="-.06 0 .003" euler="0 0 -1.57">
      <geom mesh="xh28" pos="0 0 0.01425" euler="1.57 0 1.57"/>
      <body name="_TH30" pos="0 0 0.01425" euler="0 0 3.14">
        <geom mesh="metal_clamping" euler="0 0 1.57"/>
        <geom mesh="metal_clamping_small" pos="0 0 0.055" euler="3.14 0 0"/>
        <geom mesh="xh28" pos="0 0 0.068" euler="1.57 1.57 0"/>
        <joint name="_THJ30" type="hinge" axis="0 1 0" range="-.45 1.35"/>
        <body name="_THL31" pos="0 0 0.0675">
          <geom mesh="metal_clamping_small" pos="0 0 0.055" euler="3.14 0 0"/>
          <geom mesh="xh28" pos="0 0 0.0686" euler="1.57 1.57 0"/>
          <geom mesh="metal_clamping"/>
          <joint name="_THJ31" type="hinge" axis="1 0 0" range="-2 2"/>
          <body name="_THL32" pos="0 0 0.068">
            <geom mesh="metal_clamping"/>
            <geom mesh="plastic_finger" pos="0 0 0.046"/>
            <joint name="_THJ32" type="hinge" axis="1 0 0" range="-2 2"/>
            <site name="_THtip" type="sphere" pos="0 0 .076" size="0.01" rgba=".3 .3 1 1"/>
          </body>
        </body>
      </body>
    </body>
  </body>
</mujocoinclude>
