<mujoco>
    <include file="shared_options.xml" />
    <include file="sr_hand_e_options.xml" />
    <asset>
        <include file="shared_assets.xml" />
    </asset>
    <worldbody>
        <geom condim="3" material="mat_plane" name="floor" pos="0 0 0" size="5 5 0.001" type="plane" />
        <body name="floor" pos="0 0 0" />
        <include file="sr_hand_e_model.xml" />
        <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
        <body name="obstacle">
            <geom type="cylinder" size="0.01 0.2" pos="0.0 -0.03 0.40" euler="0 1.5708 0"/>
        </body>
    </worldbody>
</mujoco>
