<mujoco model="arm3d">
    <compiler angle="radian" coordinate="local" inertiafromgeom="true" meshdir="mesh" texturedir="textures" />
    <option gravity="0 0 0" integrator="Euler" iterations="20" timestep="0.01" />

    <default>
        <joint armature="0.04" damping="1" limited="true" />
        <geom conaffinity="0" condim="1" contype="0" density="10" friction=".8 .1 .1" margin="0.002" />
    </default>

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

        <geom conaffinity="1" contype="1" condim="1" name="table" pos="0 0.5 -0.325" size="10 10 0.1" type="plane" />
<!-- 
        <body name="wrist base" pos="0. 0. -0.2630">
            <joint axis="0 1 0" damping="0.1" name="wrist_slidey" pos="0 0 0" range="-10.3213 10.3" type="slide" />
            <joint axis="1 0 0" damping="0.1" name="wrist_slidex" pos="0 0 0" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" fromto="0 0.04 0. 0 -0.04 0" size="0.06" type="capsule" />
        </body>
 -->

        <body name="wrist base" pos="0. 0. -0.2630">
            <joint axis="1 0 0" damping="0.5" name="wrist_slidex" pos="0 0 0" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="0.5" name="wrist_slidey" pos="0 0 0" range="-10.3213 10.3" type="slide" />
            <joint axis="0 0 1" damping="0.5" name="wrist_hinge" pos="0 0 0" range="-10.3213 10.3" type="hinge" />
          <body name="tips_arm" pos="0 0 0">
            <geom conaffinity="1" contype="1" condim="1" name="tip_arml" pos="0.1 -0.1 0." size="0.01" type="sphere" />
            <geom conaffinity="1" contype="1" condim="1" name="tip_armr" pos="0.1 0.1 0." size="0.01" type="sphere" />
            <site name="arm" pos="0.02 0 0" size="0.001" />
          </body>
          <geom conaffinity="1" contype="1" condim="1" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" type="capsule" />
          <geom conaffinity="1" contype="1" condim="1" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" type="capsule" />
          <geom conaffinity="1" contype="1" condim="1" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" type="capsule" />
        </body>

        <body name="obj1" pos="0.2 -0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj1_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj1_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba="1 0. 0.3 1" type="box" />
        </body>


        <body name="obj2" pos="0.4 -0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj2_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj2_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba="0. 1. 0.7 1" type="box" />
        </body>

        <body name="obj3" pos="0.6 0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj3_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj3_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba="1 1 0. 1" type="box" />
        </body>

        <body name="obj4" pos="0.8 0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj4_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj4_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba="1 0. 1 1" type="box" />
        </body>

        <body name="obj5" pos="1. 0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj5_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj5_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba="0. 1 1 1" type="box" />
        </body>

        <body name="obj6" pos="1.2 0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj6_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj6_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba="0. 0. 0.5 1" type="box" />
        </body>


        <body name="obj7" pos="1.4 0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj7_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj7_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba=".5 .8 .1 1" type="box" />
        </body>
<!-- 
        <body name="obj8" pos="1.6 0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj8_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj8_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba="1. .2 .2 1" type="box" />
        </body>

        <body name="obj9" pos="1.8 0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj9_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj9_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba=".6 .4 .75 1" type="box" />
        </body>

        <body name="obj10" pos="2.0 0. -0.325">
            <joint axis="1 0 0" damping="1.5" name="obj10_slidex" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <joint axis="0 1 0" damping="1.5" name="obj10_slidey" pos="0 0 0.05" range="-10.3213 10.3" type="slide" />
            <geom conaffinity="1" contype="1" pos="0 0 0.05" density="0.001" size="0.05 0.05 0.05" rgba=".75 .65 .3 1" type="box" />
        </body>
 -->
        <body name="target" pos="0.0 0. -0.375">
            <geom conaffinity="0" contype="0" pos="0 0 0.05" density="0.001" size="0.09 0.09 0.001" rgba="1. 0. 0. 1" type="box" />
        </body>

        
<!--             
        <body name="goal1" pos="0.9 0.0 -0.3230">
            <geom conaffinity="0" contype="0" density="0.00001" rgba="1. 0. 0. 1" size="0.1 0.6 0.0005" type="box" />
        </body>

        <body name="goal2" pos="-0.9 0.0 -0.3230">
            <geom conaffinity="0" contype="0" density="0.00001" rgba="1. 0. 0. 1" size="0.1 0.6 0.0005" type="box" />
        </body>

        <body name="goal3" pos="1.5 0.0 -0.3230">
            <geom conaffinity="0" contype="0" density="0.00001" rgba="0. 1. 0. 1" size="0.1 0.6 0.0005" type="box" />
        </body>

        <body name="goal4" pos="-1.5 0.0 -0.3230">
            <geom conaffinity="0" contype="0" density="0.00001" rgba="0. 1. 0. 1" size="0.1 0.6 0.0005" type="box" />
        </body> -->
    </worldbody>

    <actuator>
        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_shoulder_pan_joint" /> -->
        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_shoulder_lift_joint" /> -->
        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_upper_arm_roll_joint" /> -->
        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_elbow_flex_joint" /> -->
        <!-- <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="r_forearm_roll_joint" /> -->
        <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="wrist_slidex" />
        <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="wrist_slidey" />
        <motor ctrllimited="true" ctrlrange="-2.0 2.0" joint="wrist_hinge" />
    </actuator>

</mujoco>
