<mujoco model="blue_descriptions_right">
    <compiler angle="radian" meshdir="meshes/"/>
    <option timestep="0.01" gravity="0 0 -1" />
    <size njmax="500" nconmax="100" />

    <default>
        <joint armature="0.04" damping="1" limited="true" />
        <geom friction=".5 .1 .1" margin="0.002" condim="1" contype="0" conaffinity="0" />
    </default>

    <asset>
        <mesh name="arm_base_link_v2" file="arm_base_link_v2.STL" />
        <mesh name="roll_link_v2" file="roll_link_v2.STL" />
        <mesh name="lift_link_v2" file="lift_link_v2.STL" />
        <mesh name="hand_base_link" file="hand_base_link.STL" />
        <mesh name="finger_limb_link" file="finger_limb_link.STL" />
        <mesh name="finger_tip_link" file="finger_tip_link.STL" />

        <texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0" width="1024" height="1024" mark="random" markrgb="1 1 1"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1="0.5961 0.5647 0.4784" rgb2="0.3843 0.32941 0.19215" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

    <worldbody>
        <light directional="true" diffuse=".8 .8 .8" specular="0.1 0.1 0.1" pos="0 0 2.5" dir="0 0 -1" castshadow="false"/>
        <geom name="ground" type="plane" size="6 6 1" pos="0 0 -1." quat="1 0 0 0" material="matplane" condim="1"/>
        <geom name="pedestal_top" type="box" size="1.25 1.25 0.01" pos="0 0 0" quat="1 0 0 0"  rgba="1 1 1 1" condim="1" conaffinity="1" contype="1"/>
        <geom name="pedestal_bottom" type="cylinder" size="0.05 0.5" pos="0 0 -0.5" quat="1 0 0 0"  rgba="1 1 1 1" condim="1"/>

        <body name="right_base_link" pos="0 0 0">
            <inertial pos="0.107964 -0.000118075 0.0740607" quat="-0.00144458 0.606987 0.000927747 0.79471" mass="3.45161" diaginertia="0.0175534 0.0157386 0.00730286" />
            <geom type="mesh" rgba="0.2784 0.2784 0.2784 1" mesh="arm_base_link_v2" />
            <body name="right_shoulder_roll_link" pos="0 0 0.083499" quat="0 1 0 0">
                <inertial pos="0.00796478 6.88165e-07 -0.101495" quat="0.712797 -0.021542 -0.0203263 0.700745" mass="2.21396" diaginertia="0.00680774 0.00679994 0.00633497" />
                <joint name="right_base_roll_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-3.3999 2.3412" />
                <geom type="mesh" rgba="0.2784 0.2784 0.2784 1" mesh="roll_link_v2" />
                <body name="right_shoulder_lift_link" pos="-0.012 0 -0.232779" quat="0.707107 -0.707107 0 0">
                    <inertial pos="-1.3238e-05 0.00162984 3.71222e-05" quat="0.714714 -0.00266942 -0.00304239 0.699405" mass="0.415577" diaginertia="0.000846898 0.000835923 0.000571351" />
                    <joint name="right_shoulder_lift_joint" pos="0 0 0" axis="0 0 -1" limited="true" range="-2.2944 0" /> <!--previously range="-2.2944 0: limited range to serve as a "softstop"-->
                    <geom type="mesh" rgba="0.116747 0.862745 1 1" mesh="lift_link_v2" />
                    <body name="right_elbow_roll_link" pos="0 0.0359532 0" quat="0.500704 0.500704 0.499295 -0.499295">
                        <inertial pos="0.00796478 6.88165e-07 -0.101495" quat="0.712797 -0.021542 -0.0203263 0.700745" mass="2.21396" diaginertia="0.00680774 0.00679994 0.00633497" />
                        <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.6761 2.6761" />
                        <geom type="mesh" rgba="0.2784 0.2784 0.2784 1" mesh="roll_link_v2" />
                        <body name="right_elbow_lift_link" pos="-0.012 0 -0.232779" quat="0.707107 -0.707107 0 0">
                            <inertial pos="-1.3238e-05 0.00162984 3.71222e-05" quat="0.714714 -0.00266942 -0.00304239 0.699405" mass="0.415577" diaginertia="0.000846898 0.000835923 0.000571351" />
                            <joint name="right_elbow_lift_joint" pos="0 0 0" axis="0 0 -1" limited="true" range="-2.2944 0" />
                            <geom type="mesh" rgba="0.116747 0.862745 1 1" mesh="lift_link_v2" />
                            <body name="right_wrist_roll_link" pos="0 0.0359532 0" quat="0.500704 0.500704 -0.499295 0.499295">
                                <inertial pos="0.00796478 6.88165e-07 -0.101495" quat="0.712797 -0.021542 -0.0203263 0.700745" mass="1.71368" diaginertia="0.00680774 0.00679994 0.00633497" />
                                <joint name="right_elbow_roll_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.6761 2.6761" />
                                <geom type="mesh" rgba="0.2784 0.2784 0.2784 1" mesh="roll_link_v2" />
                                <body name="right_wrist_lift_link" pos="-0.012 0 -0.232779" quat="0.707107 -0.707107 0 0">
                                    <inertial pos="-1.3238e-05 0.00162984 3.71222e-05" quat="0.714714 -0.00266942 -0.00304239 0.699405" mass="0.415577" diaginertia="0.000846898 0.000835923 0.000571351" />
                                    <joint name="right_wrist_lift_joint" pos="0 0 0" axis="0 0 -1" limited="true" range="-2.2944 0" />
                                    <geom type="mesh" rgba="0.116747 0.862745 1 1" mesh="lift_link_v2" />
                                    <body name="right_end_roll_link" pos="0 0.0701432 0" quat="0.707107 0.707107 0 0">
                                        <inertial pos="0.00526386 2.70692e-05 -0.0641638" quat="0.99991 0.000246685 0.0133803 0.00035395" mass="0.65711" diaginertia="0.00578835 0.00530224 0.0034223" />
                                        <joint name="right_wrist_roll_joint" pos="0 0 0" axis="0 0 1" limited="true" range="-2.6761 2.6761" />
                                        <geom type="mesh" rgba="0.2784 0.2784 0.2784 1" mesh="hand_base_link" conaffinity="1" contype="1"/>
                                        <body name="right_gripper_link" pos="0 0 -0.1" quat="0.535369 0.498747 0.498747 -0.464631">
                                            <inertial pos="-7.00549e-05 2.51272e-05 -0.0523671" quat="1 5.54202e-05 -0.000544908 -0.000762021" mass="0.00471098" diaginertia="0.000916889 0.000877269 0.000293332" />
                                            <!--<joint name="right_gripper_joint" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.05" />-->
                                        </body>
                                        <body name="right_r_finger_link" pos="0 0.030703 -0.071979" quat="0.631851 -0.317432 -0.631853 0.317432">
                                            <inertial pos="0.000467332 0.0122666 1.16453e-07" quat="0.705809 0.705807 -0.042877 -0.0427953" mass="0.0384621" diaginertia="1.95846e-05 1.92561e-05 5.02091e-06" />
                                            <!--<joint name="right_r_finger_joint" pos="0 0 0" axis="0 0 1" />-->
                                            <geom type="mesh" rgba="0.2784 0.2784 0.2784 1" mesh="finger_limb_link" conaffinity="1" contype="1"/>
                                            <body name="right_r_finger_tip_link" pos="0 0.06 0" quat="0.222329 0.222329 -0.671246 -0.671244">
                                                <inertial pos="0.000428096 -6.39629e-08 0.016281" quat="0.982245 -0.000139751 0.187603 -0.000716219" mass="0.00964245" diaginertia="1.96342e-06 1.95368e-06 4.76554e-07" />
                                                <!--<joint name="right_r_finger_tip_joint" pos="0 0 0" axis="0 1 0" />-->
                                                <geom type="mesh" rgba="0.116747 0.862745 1 1" mesh="finger_tip_link" conaffinity="1" contype="1"/>
                                            </body>
                                        </body>
                                        <body name="right_l_finger_link" pos="0 -0.030703 -0.071979" quat="0.31743 -0.631852 0.317435 -0.631852">
                                            <inertial pos="0.000467332 0.0122666 1.16453e-07" quat="0.705809 0.705807 -0.042877 -0.0427953" mass="0.0384621" diaginertia="1.95846e-05 1.92561e-05 5.02091e-06" />
                                            <!--<joint name="right_l_finger_joint" pos="0 0 0" axis="0 0 1" />-->
                                            <geom type="mesh" rgba="0.2784 0.2784 0.2784 1" mesh="finger_limb_link" />
                                            <body name="right_l_finger_tip_link" pos="0 0.06 0" quat="0.222329 0.222329 -0.671246 -0.671244">
                                                <inertial pos="0.000428096 -6.39629e-08 0.016281" quat="0.982245 -0.000139751 0.187603 -0.000716219" mass="0.00964245" diaginertia="1.96342e-06 1.95368e-06 4.76554e-07" />
                                                <!--<joint name="right_l_finger_tip_joint" pos="0 0 0" axis="0 1 0" />-->
                                                <geom type="mesh" rgba="0.116747 0.862745 1 1" mesh="finger_tip_link" conaffinity="1" contype="1"/>
                                            </body>
                                        </body>
                                        <body name="right_gripper_finger_link" pos="0 0 -0.18" quat="0.707107 -1.29867e-06 0.707107 -1.29867e-06">
                                            <inertial pos="0 0 -0.18" quat="0.707107 -1.29867e-06 0.707107 -1.29867e-06" mass="0" diaginertia="0 0 0" />
                                        </body>
                                    </body>
                                </body>
                                <body name="right_wrist_accel_link" pos="-0.0200083 -0.00051 -0.111067" quat="0.69759 0.69759 0.115618 -0.115618">
                                    <inertial pos="-0.0200083 -0.00051 -0.111067" quat="0.69759 0.69759 0.115618 -0.115618" mass="0" diaginertia="0 0 0" />
                                </body>
                            </body>
                        </body>
                        <body name="right_elbow_accel_link" pos="-0.0200083 -0.00051 -0.111067" quat="0.69759 0.69759 0.115618 -0.115618">
                            <inertial pos="-0.0200083 -0.00051 -0.111067" quat="0.69759 0.69759 0.115618 -0.115618" mass="0" diaginertia="0 0 0" />
                        </body>
                    </body>
                </body>
                <body name="right_shoulder_accel_link" pos="-0.0200083 -0.00051 -0.111067" quat="0.69759 0.69759 0.115618 -0.115618">
                    <inertial pos="-0.0200083 -0.00051 -0.111067" quat="0.69759 0.69759 0.115618 -0.115618" mass="0" diaginertia="0 0 0" />
                </body>
            </body>
        </body>

        <body name="goal_obj" pos="0 0 0">
            <geom name="goal_obj" pos="0 0 0" type="box" size="0.05 0.05 0.05" conaffinity="1" contype="1" rgba="0 1 0 1"/>
            <inertial pos="0 0 0" quat="1 0 0 0" mass="5" diaginertia="1.95846e-05 1.92561e-05 5.02091e-06" />
            <joint armature="0" axis="1 0 0" damping="0" limited="false" name="goal_right_x" pos="0 0 0" stiffness="0" type="slide"/>
            <joint armature="0" axis="0 1 0" damping="0" limited="false" name="goal_right_y" pos="0 0 0" stiffness="0" type="slide"/>
            <joint armature="0" axis="0 0 1" damping="0" limited="false" name="goal_right_z" pos="0 0 0" stiffness="0" type="slide"/>
        </body>

        <body name="goal_dest" pos="0 0 0"> 
            <geom name="goal_dest" pos="0 0 0" type="sphere" size="0.01" rgba="1 0 0 1"/>
            <inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="1.95846e-05 1.92561e-05 5.02091e-06" />
            <joint armature="0" axis="1 0 0" damping="0" limited="false" name="goal_dest_x" pos="0 0 0" stiffness="0"/>
            <joint armature="0" axis="0 1 0" damping="0" limited="false" name="goal_dest_y" pos="0 0 0" stiffness="0"/>
            <joint armature="0" axis="0 0 1" damping="0" limited="false" name="goal_dest_z" pos="0 0 0" stiffness="0"/>
        </body>
    </worldbody>

    <actuator>
        <motor ctrlrange="-5.0 5.0" gear="1.0" joint="right_base_roll_joint" />
        <motor ctrlrange="-5.0 5.0" gear="1.0" joint="right_shoulder_lift_joint" />
        <motor ctrlrange="-4.0 4.0" gear="1.0" joint="right_shoulder_roll_joint" />
        <motor ctrlrange="-4.0 4.0" gear="1.0" joint="right_elbow_lift_joint" />
        <motor ctrlrange="-3.0 3.0" gear="1.0" joint="right_elbow_roll_joint" />
        <motor ctrlrange="-2.0 2.0" gear="1.0" joint="right_wrist_lift_joint" />
        <motor ctrlrange="-2.0 2.0" gear="1.0" joint="right_wrist_roll_joint" />
    </actuator>

</mujoco>
