<mujoco model="ADROIT-pen(v1.5)">																																									
	<sensor>																																											
		<touch name="S_grasp_sensor" site="S_grasp"/>																																											
		<touch name="Tch_ffmetacarpal_sensor" site="Tch_ffmetacarpal"/>																																											
		<touch name="Tch_mfmetacarpal_sensor" site="Tch_mfmetacarpal"/>																																											
		<touch name="Tch_rfmetacarpal_sensor" site="Tch_rfmetacarpal"/>																																											
		<touch name="Tch_thmetacarpal_sensor" site="Tch_thmetacarpal"/>																																											
		<touch name="Tch_palm_sensor" site="Tch_palm"/>																																											
		<touch name="Tch_ffproximal_sensor" site="Tch_ffproximal"/>																																											
		<touch name="Tch_ffmiddle_sensor" site="Tch_ffmiddle"/>																																											
		<touch name="S_fftip_sensor" site="S_fftip"/>																																											
		<touch name="Tch_fftip_sensor" site="Tch_fftip"/>																																											
		<touch name="Tch_mfproximal_sensor" site="Tch_mfproximal"/>																																											
		<touch name="Tch_mfmiddle_sensor" site="Tch_mfmiddle"/>																																											
		<touch name="S_mftip_sensor" site="S_mftip"/>																																											
		<touch name="Tch_mftip_sensor" site="Tch_mftip"/>																																											
		<touch name="Tch_rfproximal_sensor" site="Tch_rfproximal"/>																																											
		<touch name="Tch_rfmiddle_sensor" site="Tch_rfmiddle"/>																																											
		<touch name="S_rftip_sensor" site="S_rftip"/>																																											
		<touch name="Tch_rftip_sensor" site="Tch_rftip"/>																																											
		<touch name="Tch_lfmetacarpal_sensor" site="Tch_lfmetacarpal"/>																																											
		<touch name="Tch_lfproximal_sensor" site="Tch_lfproximal"/>																																											
		<touch name="Tch_lfmiddle_sensor" site="Tch_lfmiddle"/>																																											
		<touch name="S_lftip_sensor" site="S_lftip"/>																																											
		<touch name="Tch_lftip_sensor" site="Tch_lftip"/>																																											
		<touch name="Tch_thproximal_sensor" site="Tch_thproximal"/>																																											
		<touch name="Tch_thmiddle_sensor" site="Tch_thmiddle"/>																																											
		<touch name="S_thtip_sensor" site="S_thtip"/>																																											
		<touch name="Tch_thtip_sensor" site="Tch_thtip"/>																																											
	</sensor>																																											

	<include file=""/>																																											


	<worldbody>																																											
		<light diffuse=".7 .7 .7" dir="1 1.0 -4" directional="false" pos="-1 -1.0 4.0" specular="0.03 0.03 0.03"/>																																											
		<geom conaffinity="0" contype="1" material="groundplane" name="ground" pos="0 0 -1" size="1.5 1.5 0.25" type="plane"/>																																											
		<camera name="fixed" pos="0 -0.7 0.7" quat="0.92388 0.382683 0 0"/>																																											

		<camera name="vil_camera" pos="0 -1.2 1.2" quat="0.92388 0.382683 0 0"/>																																											
		<camera euler="0.785 -0.785 -0.785" name="view_1" pos="-0.8 -0.8 0.8"/>																																											
		<camera euler="-1.57 0 3.14" name="view_2" pos="0 0.5 0.2"/>																																											
		<camera euler="-2.35 0 3.14" name="view_3" pos="0 0.2 -0.2"/>																																											
		<camera euler="0.785 0.785 0.785" name="view_4" pos="0.8 -0.8 0.8"/>																																											
		<camera euler="-3.2 0 3.14" name="view_5" pos="0 -0.25 -0.4"/>																																											


		<body name="table">																																											

			<geom material="tablecube" pos="0 0 -0.025" size="0.45 0.45 0.025" type="box"/>																																											
			<geom conaffinity="0" contype="0" pos="0.4 0.4 -0.501" quat="0 1 0 0" size="0.04 0.5" type="cylinder"/>																																											
			<geom conaffinity="0" contype="0" pos="-0.4 0.4 -0.501" quat="0 1 0 0" size="0.04 0.5" type="cylinder"/>																																											
			<geom conaffinity="0" contype="0" pos="0.4 -0.4 -0.501" quat="0 1 0 0" size="0.04 0.5" type="cylinder"/>																																											
			<geom conaffinity="0" contype="0" pos="-0.4 -0.4 -0.501" quat="0 1 0 0" size="0.04 0.5" type="cylinder"/>																																											
		</body>																																											


		<body mocap="true" name="vive_tracker" pos="0 -0.35 0.25">																																											
			<inertial diaginertia="1.70667e-05 1.70667e-05 1.70667e-05" mass="0.064" pos="0 0 0"/>																																											
			<geom conaffinity="0" contype="0" group="3" rgba="0.3 0.3 0.3 0.3" size="0.03 0.01" type="cylinder"/>																																											
		</body>																																											


		<body euler="-1.57 0 0" name="forearm" pos="0 -0.7 0.16">																																											
			<inertial diaginertia="0.01 0.01 0.0075" mass="4" pos="0.001 -0.002 0.29" quat="0.982037 -0.0160006 0 -0.188007"/>																																											
			<joint axis="1 0 0" damping="20" name="ARTx" pos="0 0 0" range="-0.1 0.1" type="slide"/>																																											
			<joint axis="0 1 0" damping="20" name="ARTy" pos="0 0 0" range="-0.2 0" type="slide"/>																																											
			<joint axis="0 0 1" damping="20" name="ARTz" pos="0 0 0" range="-0.1 0.1" type="slide"/>																																											

			<geom class="D_Vizual" euler="0 0 -1.57" mesh="forearm_simple" name="V_forearm" pos="0 -.01 .181"/>																																											
			<geom class="DC_Hand" name="C_forearm1" pos="0 0 0.29" rgba="0.4 0.5 0.6 0.1" size="0.05 0.033" type="capsule"/>																																											

			<include file="DAPG_Adroit_yjl.xml"/>																																											
		</body>																																																													
	</worldbody>																																											

	<include file="DAPG_assets.xml"/>																																											
</mujoco>