<mujoco model="arm3d">
    <compiler inertiafromgeom="true" angle="radian" coordinate="local" />
    <option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" />
    
    <default>
        <joint armature='0.04' damping="1" limited="true"/>
        <geom  friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
    </default>
    
    <worldbody>
        <light diffuse="1 1 1" pos="0 0 3" dir="0 0 -1"/>

        <geom rgba=".40 .34 .25 1" type="plane" pos="0 0.5 -0.325" size="2 2 0.1" contype="1" conaffinity="1"/>

        <body name="r_shoulder_pan_link" pos="0 -0.6 0">
            <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
            <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
            <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
            <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
            <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
            <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" />

            <body name="r_shoulder_lift_link" pos="0.1 0 0">
                <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
                <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" />

                <body name="r_upper_arm_roll_link" pos="0 0 0">
                    <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
                    <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" />

                    <body name="r_upper_arm_link" pos="0 0 0">
                        <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />

                        <body name="r_elbow_flex_link" pos="0.4 0 0">
                            <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
                            <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" />

                            <body name="r_forearm_roll_link" pos="0 0 0">
                                <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
                                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/>

                                <body name="r_forearm_link" pos="0 0 0">
                                    <geom name="fa" type="capsule" fromto="0 0 0 0.321 0 0" size="0.05" />

                                    <body name="r_wrist_flex_link" pos="0.321 0 0">
                                        <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
                                        <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" />

                                        <body name="r_wrist_roll_link" pos="0 0 0">
                                            <geom name="wr" type="capsule" fromto="-0.02 0 0 0.02 0 0" size="0.01" />
                                            <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/>

                                            <site name="tip arml" pos="0.1 -0.1 0." size="0.01" />
                                            <site name="tip armr" pos="0.1 0.1 0." size="0.01" />
                                            <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
                                            <geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
                                            <geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />

                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>

        
        <body name="object" pos="2.0 2.0 2.0">
            <geom rgba="1. 1. 1. 1" type="cylinder" size="0.05 0.05 0.1" density='0.00001' contype="1" conaffinity="1"/>
            <joint name="obj_slidey" type="slide" pos="0.01 0.01 0.01" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
            <joint name="obj_slidex" type="slide" pos="0.01 0.01 0.01" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
        </body>


        <!--<body name="goal" pos="0.0 0.0 -0.3">-->
            <!--<geom rgba="1. 0. 0. 1" type="box" size="0.05 0.05 0.05" density='0.00001' contype="0" conaffinity="0"/>-->
        <body name="goal" pos="-0.5 0.3 0">
            <geom rgba="1. 0. 0. 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
            <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
            <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/> 
        </body>

    </worldbody>

    <actuator>
        <motor joint="r_shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
        <motor joint="r_shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
        <motor joint="r_upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
        <motor joint="r_elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
        <motor joint="r_forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
        <motor joint="r_wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
        <motor joint="r_wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
    </actuator>
    
</mujoco>
