<mujoco model="arm3d">
  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
  <option timestep="0.01" gravity="0 0 -9.81" integrator="RK4"/>
  <default>
    <joint armature='0.75' damping="1" limited="true"/>
    <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
  </default>

  <worldbody>
    <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>

    <geom type="plane" pos="0 0.5 -0.325" size="1 1 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" density="0.0001"/>
      <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
      <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
      <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
      <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
      <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" 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" density="0.0001"/>
        <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" 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" density="0.0001"/>
          <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>

          <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" density="0.0001"/>

            <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" density="0.0001"/>
              <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>

              <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" density="0.0001"/>
                <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>

                <body name="r_forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
                  <geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>

                  <body name="r_wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
                    <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
                    <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />

                    <body name="r_wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
                      <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
                      <geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
                      <body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                      </body>
                      <body pos="0 0 0" axisangle="0 0 1 1.57">
                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                      </body>
                      <body pos="0 0 0" axisangle="0 0 1 1.178">
                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                      </body>
                      <body pos="0 0 0" axisangle="0 0 1 0.785">
                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                      </body>
                      <body pos="0 0 0" axisangle="0 0 1 1.96">
                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                      </body>
                      <body pos="0 0 0" axisangle="0 0 1 2.355">
                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                      </body>
                      <body pos="0 0 0" axisangle="0 0 1 2.74">
                        <geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                        <geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>

    <body name="goal" pos="0.575 0.5 -0.328">
      <geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
      <geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
      <geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
      <geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
      <geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
      <geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
      <geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
      <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
      <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
      <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="1.0"/>
      <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="1.0"/>
    </body>

    <body name="ball" pos="0.5 -0.8 0.275">
      <geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
      <joint name="ball_free" type="free" armature='0' damping="0" limited="false"/>
    </body>

  </worldbody>

  <actuator>
    <motor joint="r_shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
    <motor joint="r_shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
    <motor joint="r_upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
    <motor joint="r_elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
    <motor joint="r_forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
    <motor joint="r_wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
    <motor joint="r_wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
  </actuator>

</mujoco>
