<!--<mujoco model="reacher">-->
	<!--<include file="./common/skybox.xml"/>-->
    <!--<include file="./common/visual.xml"/>-->
    <!--<include file="./common/materials.xml"/>-->

	<!--<compiler angle="radian" 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"/>-->
	<!--<worldbody>-->
		<!---->
		<!--<light name="light" pos="0 0 1"/>-->
		<!--&lt;!&ndash; Arena &ndash;&gt;-->
		<!--&lt;!&ndash;<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>&ndash;&gt;-->
		<!--<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" size=".02" type="capsule" material="decoration"/>-->
		<!--<geom conaffinity="0" fromto=" .3 -.3 .01 .3  .3 .01" name="sideE" size=".02" type="capsule" material="decoration"/>-->
		<!--<geom conaffinity="0" fromto="-.3  .3 .01 .3  .3 .01" name="sideN" size=".02" type="capsule" material="decoration"/>-->
		<!--<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" size=".02" type="capsule" material="decoration"/>-->
		<!--&lt;!&ndash; Arm &ndash;&gt;-->
		<!--<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" size=".011" type="cylinder" material="decoration"/>-->
		<!--<body name="body0" pos="0 0 .01">-->
			<!--<geom fromto="0 0 0 0.1 0 0" name="link0" size=".01" type="capsule" material="self"/>-->
			<!--<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="-3.0 3.0" type="hinge"/>-->
				<!--<geom fromto="0 0 0 0.1 0 0" name="link1"  size=".01" type="capsule" material="self"/>-->
				<!--<body name="fingertip" pos="0.11 0 0">-->
					<!--<geom contype="0" name="fingertip" pos="0 0 0" size=".01" type="sphere" material="effector"/>-->
				<!--</body>-->
			<!--</body>-->
		<!--</body>-->
		<!--&lt;!&ndash; Target &ndash;&gt;-->
		<!--<body name="target" pos=".1 -.1 .01">-->
			<!--<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/>-->
			<!--<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/>-->
			<!--<geom conaffinity="0" contype="0" name="target" pos="0 0 0" size=".009" type="sphere" material="target"/>-->
		<!--</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>-->

<mujoco model="reacher">
	<include file="./common/skybox_var.xml"/>
	<compiler angle="radian" 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"/>
	<worldbody>
		<camera name="fixed" pos="0 0 .6" quat="1 0 0 0"/>

		<!-- Arena -->
		<!--<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>-->
		<geom conaffinity="0" fromto="-.24 -.24 .01  .24 -.24 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
		<geom conaffinity="0" fromto=" .24 -.24 .01  .24  .24 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
		<geom conaffinity="0" fromto="-.24  .24 .01  .24  .24 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
		<geom conaffinity="0" fromto="-.24 -.24 .01 -.24  .24 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
		<!-- 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="-3.0 3.0" 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 contype="0" 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=".1 -.1 .02">
			<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.3 .3" ref=".1" stiffness="0" type="slide" frictionloss="0"/>
			<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.3 .3" ref="-.1" stiffness="0" type="slide" frictionloss="0"/>
			<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere" material="target_mat"/>
		</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>
    <asset>
        <texture builtin="flat" name="base_tex" height="32" width="32" rgb1="0.9 0.2 0.2" type="cube"/>
        <material name="target_mat" shininess="0.03" specular="0.75" texture="base_tex"/>
    </asset>
</mujoco>
