| <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> | |