<mujoco model="verticalArm">
	<compiler angle="radian" inertiafromgeom="auto"/>
	<default>
		<joint armature="1" damping="1" limited="true"/>
		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
	</default>
	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
	<worldbody>

		<!-- Arm -->
		<geom conaffinity="0" contype="0" fromto="0 0 0 0 0.02 0" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
		<body name="shoulder" pos="0 0.01 -.005">
			<geom fromto="0 0 0 0 0 -0.055" name="shoulder" rgba="0.0 0.4 0.6 1" size=".01" type="capsule" mass="1"/>
			<joint axis="0 1 0" limited="true" range="-2 0.5" name="shoulder" pos="0 0 0" type="hinge" damping="1"  stiffness="0"/>
			<body name="shoulder2" pos="0 0 -.055">
				<geom fromto="0 0 0 0 0 -0.055" name="shoulder2" rgba="0.0 0.4 0.6 1" size=".01" type="capsule" mass="1"/>
				<joint axis="0 1 0" limited="true" range="-2 0.5" name="shoulder2" pos="0 0 0" type="hinge" damping="1"  stiffness="0"/>
				
				<body name="elbow" pos="0 0 -0.055">
					<joint axis="0 1 0" limited="true" name="elbow" pos="0 0 0" range="-2. 0" type="hinge" damping="0."  stiffness="0"/>#-2.8
					<geom fromto="0 0 0 0 0 -0.025" name="elbow" rgba="0.0 0.4 0.6 1" size=".01" type="capsule" mass="0.25"/>#5.75
					<body name="elbow2" pos="0 0 -0.025">
						<joint axis="0 1 0" limited="true" name="elbow2" pos="0 0 0" range="-2. 0" type="hinge" damping="0."  stiffness="0"/>#-2.8
						<geom fromto="0 0 0 0 0 -0.025" name="elbow2" rgba="0.0 0.4 0.6 1" size=".01" type="capsule" mass="0.25"/>#5.75
						<body name="elbow3" pos="0 0 -0.025">
							<joint axis="0 1 0" limited="true" name="elbow3" pos="0 0 0" range="-2. 0" type="hinge" damping="0."  stiffness="0"/>#-2.8
							<geom fromto="0 0 0 0 0 -0.025" name="elbow3" rgba="0.0 0.4 0.6 1" size=".01" type="capsule" mass="0.25"/>#5.75
							<body name="elbow4" pos="0 0 -0.025">
								<joint axis="0 1 0" limited="true" name="elbow4" pos="0 0 0" range="-2. 0" type="hinge" damping="0."  stiffness="0"/>#-2.8
								<geom fromto="0 0 0 0 0 -0.025" name="elbow4" rgba="0.0 0.4 0.6 1" size=".01" type="capsule" mass="0.25"/>#5.75
								<body name="fingertip" pos="0 0 -0.025">
									<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"  mass="0.33"/>#2
								</body>
							</body>
						</body>
					</body>
				</body>
			
			</body>
		</body>

		<!-- Target -->

		<body name="target" pos=".15 0.01 -.1">

			<site  name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009 .009 .009" type="sphere" />
		</body>

	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="30.0" joint="shoulder"/>#50.0 20
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="30.0" joint="shoulder2"/>#50.0 20
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="25.0" joint="elbow"/>#40.0 20
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="25.0" joint="elbow2"/>#40.0 20
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="25.0" joint="elbow3"/>#40.0 20
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="25.0" joint="elbow4"/>#40.0 20
	</actuator>

</mujoco>
