<mujoco model="reacher">
	<compiler angle="degree" inertiafromgeom="true"/>
	<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"/>

<!-- 	<default>
		<joint damping=".1" armature="0.01" limited="true" solimplimit="0 .99 .01" type="hinge" axis="0 0 1" />
		<geom type="capsule" material="self" friction="1 0.1 0.1" density="500" contype="1" conaffinity="1" />
		<motor gear="1" ctrlrange="-1 1" ctrllimited="true"/>
	</default> -->

	<worldbody>
		<!-- Arena -->
		<geom name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane" contype="1" conaffinity="1"/>
		<geom fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule" contype="1" conaffinity="1" />
		<geom fromto=" .3 -.3 .01 .3  .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule" contype="1" conaffinity="1" />
		<geom fromto="-.3  .3 .01 .3  .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule" contype="1" conaffinity="1" />
		<geom fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule" contype="1" conaffinity="1" />
		<!-- Arm -->
		<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
		<body name="body0" pos="0 0 .01">
			<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
			<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
			<body name="body1" pos="0.1 0 0">
				<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-150 150" type="hinge"/>
				<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
				<body name="fingertip" pos="0.11 0 0">
					<geom name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere" />
				</body>
			</body>
		</body>
		<!-- Target -->
		<body name="target" pos="0 0 .01">
			<joint armature="0" axis="1 0 0" damping="0" limited="false" name="target_x" pos="0 0 0" stiffness="0" type="slide"/>
			<joint armature="0" axis="0 1 0" damping="0" limited="false" name="target_y" pos="0 0 0" stiffness="0" type="slide"/>
			<geom name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere" conaffinity="0" contype="0"/>
		</body>
	    <!-- distractor -->
	    <body name="distractor" pos="0 0 .01" >
	      <joint name="distractor_x" type="slide" axis="1 0 0" limited="false" />
	      <joint name="distractor_y" type="slide" axis="0 1 0" limited="false" />
	      <geom  name="distractor" pos="0 0 0" rgba="1. 0.5 0.5 1" size=".022" type="sphere" contype="0" conaffinity="1" />
	      <site  name="distractor" type="sphere"/>
	    </body>
	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
	</actuator>
</mujoco>