<!-- Configuration file for Exp1 with  PusherEnv-v1-->
<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="1" conaffinity="1"/>
    </default>
    
    <worldbody>
        <light diffuse=".8 .8 .8" pos="0 1.2 3" dir="0 0 -1"/>
        <geom rgba="1 1 1 1" type="plane" pos="0 0.5 -0.15" size="4 4 0.1" contype="1" conaffinity="1"/>

        <body name="palm" pos="0 0 0">
            <geom rgba="0 0 0 .8" type="capsule" fromto="0 0 -0.1 0 0 0.1" size="0.12"/>
            <body name="proximal_1" pos="0 0 0">
                <joint name="proximal_j_1" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.5236 2.3963" damping="1.0" />
                <geom rgba=".0 0 0 .8" type="capsule"  fromto="0 0 0 0.4 0 0" size="0.06" contype="1" conaffinity="1"/>
                <body name="distal_1" pos="0.4 0 0">
                    <joint name="distal_j_1" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.3213 2.3" damping="1.0"/>
                    <geom rgba=".0 0 0 .8" type="capsule"  fromto="0 0 0 0.4 0 0" size="0.06" contype="1" conaffinity="1"/>
                    <body name="distal_2" pos="0.4 0 0">
                        <joint name="distal_j_2" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 2.3" damping="1.0"/>
                        <geom rgba=".0 0 0 .8" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" contype="1" conaffinity="1"/>
                        <body name="distal_4" pos="0.4 0 0">
                            <site name="tip arml" pos="0.1 -0.2 0" size="0.01" />
                            <site name="tip armr" pos="0.1 0.2 0" size="0.01" />
                            <joint name="distal_j_3" type="hinge" pos="0 0 0" axis="1 0 0" range="-3.3213 3.3" damping="0.5"/>
                            <geom rgba="0 0 0 .8" type="capsule" fromto="0 -0.2 0 0 0.2 0" size="0.04" contype="1" conaffinity="1" />
                            <geom rgba="0 0 0 .8"  type="capsule" fromto="0 -0.2 0 0.2 -0.2 0" size="0.04" contype="1" conaffinity="1" />
                            <geom rgba="0 0 0 .8" type="capsule" fromto="0 0.2 0 0.2 0.2 0" size="0.04" contype="1" conaffinity="1" />
                        </body>
                    </body>
                </body>
            </body>
        </body>
        
        <body name="object" pos="3 3 -0.1">
            <geom rgba="1. 1. 1. 1" type="box" size="0.05 0.05 0.0005" density='0.00001' contype="1" conaffinity="1"/>
            <joint name="obj_slidey" type="slide" pos="0.025 0.025 0.025" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
            <joint name="obj_slidex" type="slide" pos="0.025 0.025 0.025" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
        </body>

        
       <body name="goal" pos="-.9 1.2 -0.1">
            <geom rgba="1. 0. 0. 1" type="box" size="0.15 0.15 0.001" 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="proximal_j_1" ctrlrange="-2 2" ctrllimited="true"/>
        <motor joint="distal_j_1" ctrlrange="-2 2" ctrllimited="true"/>
        <motor joint="distal_j_2" ctrlrange="-2 2" ctrllimited="true"/>
        <motor joint="distal_j_3" ctrlrange="-2 2" ctrllimited="true"/>
    </actuator>
</mujoco>
