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1477756 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
<option timestep="0.002" iterations="20" apirate="200">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<asset>
<include file="shared_asset.xml"></include>
</asset>
<worldbody>
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1 1 0">
<site name="target0" pos="0 0 0" size="0.005" rgba="1 0 0 1" type="sphere"></site>
<site name="target1" pos="0 0 0" size="0.005" rgba="0 1 0 1" type="sphere"></site>
<site name="target2" pos="0 0 0" size="0.005" rgba="0 0 1 1" type="sphere"></site>
<site name="target3" pos="0 0 0" size="0.005" rgba="1 1 0 1" type="sphere"></site>
<site name="target4" pos="0 0 0" size="0.005" rgba="1 0 1 1" type="sphere"></site>
<site name="finger0" pos="0 0 0" size="0.01" rgba="1 0 0 0.2" type="sphere"></site>
<site name="finger1" pos="0 0 0" size="0.01" rgba="0 1 0 0.2" type="sphere"></site>
<site name="finger2" pos="0 0 0" size="0.01" rgba="0 0 1 0.2" type="sphere"></site>
<site name="finger3" pos="0 0 0" size="0.01" rgba="1 1 0 0.2" type="sphere"></site>
<site name="finger4" pos="0 0 0" size="0.01" rgba="1 0 1 0.2" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
</mujoco>
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