 <!-- ======================================================
	This file is part of MuJoCo.
	Copyright 2009-2016 Roboti LLC.

	Model 		:: Sandia hands from Darpa Robotics challenge Package
		Source		: https://bitbucket.org/osrf/drcsim
		Downloaded	: --

	Mujoco		:: Advanced physics simulation engine
		Source		: www.roboti.us
		Version		: 1.31
		Released 	: 26Nov15

	Author		:: Vikash Kumar
		Contacts 	: kumar@roboti.us
		Last edits 	: 30Apr16, 20Dec'15
====================================================== -->

<mujoco model="sandia left hand(v1.31)">
	<compiler coordinate="local" angle="radian" meshdir="Meshes/"/>

	<include file="include_sandia_hand_defaults.xml"/>
	<include file="include_sandia_left_hand_details.xml"/>

	<asset>
		<texture name="groundplane" type="2d" builtin="checker" rgb1=".25 .26 .25"
			rgb2=".22 .22 .22" width="100" height="100" mark="none" markrgb=".8 .8 .8"/>
		<material name="MatGnd" texrepeat="5 5"  texture="groundplane"  specular="1" shininess=".3" reflectance="0.00001" rgba="1 1 1 1"/>
	</asset>

	<worldbody>
		<geom name="ground" type="plane" pos="0 0 -0.5" size="2 2 0.1" conaffinity="1" contype="1" material="MatGnd"/>
		<light directional="false" cutoff="60" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos=".3 .3 .5" dir="-.3 -.3 -.5"/>
		<include file="include_sandia_left_hand_chain.xml"/>
	</worldbody>

</mujoco>
