<!-- ======================================================
	This file is part of MuJoCo.     
	Copyright 2009-2015 Roboti LLC.
	
	Model 		:: Barrett hand from Barrett technologies
		Source		: https://github.com/jhu-lcsr/barrett_model
		Downloaded	: 10Oct'15
		
	Mujoco		:: Advanced physics simulation engine
		Source		: www.roboti.us
		Version		: 1.22
		Released 	: 26Nov15
		
	Author		:: Vikash Kumar
		Contacts 	: kumar@roboti.us
		Last edits 	: 26Dec'15
====================================================== -->

<mujoco model="bhand(v1.22)">
	<compiler coordinate="local" angle="radian" meshdir="meshes/" />
	<include file="include_bhandDependencies.xml"/>
	
	<worldbody>
		<light directional="true" cutoff="60" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos=".1 .2 1.3" dir="-.1 -.2 -1.3"/>
		<include file="include_bhandChain.xml"/>
	</worldbody>
	
</mujoco>