<mujoco model="manipulation_generic">
    <include file="../../misc/skybox.xml" />
    <include file="../../misc/visual.xml" />
    <include file="../../misc/materials.xml" />
    <compiler angle="degree" coordinate="local" inertiafromgeom="true" />
    <default>
        <joint armature="0.01" damping=".1" limited="true" />
        <geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" material="self" />
    </default>
    <option integrator="RK4" timestep="0.002" collision="dynamic"/>
        <actuator>
            <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_0_z" />
            <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_1_x" />
            <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_2_z" />
            <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_3_x" />
            <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_4_z" />
            <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_5_x" />
            <!-- <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="right1_joint" /> -->
        </actuator>
        <worldbody>
            <light cutoff="100" diffuse="1 1 1" dir="-1 -0 -1.5" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1" />
            <geom conaffinity="1" condim="3" material="grid" name="floor" pos="0 0 0" size="40 40 40" type="plane"/>
            <site name="target" type="cylinder" rgba="0 0.8 0.2 1" pos="0.4 0.4 0.5" size="0.1 0.001"/>
            <camera mode="trackcom" name="tilted" pos="2.7 3 1" xyaxes="1 -.9 0 0 0 -1" />
            <camera mode="trackcom" name="track" pos="0 3 1" xyaxes="1 0 0 0 0 -1" />


            <body name="link_0_z" pos="0 0 0.5">
                <geom friction="0.9" name="link_0_geom" size="0.05 0.05" pos="0 0 0.05" type="capsule" rgba="1 1 1 1"/>
                <joint axis="0 0 1" name="joint_0_z" pos="0 0 0" range="-180 180" type="hinge" />
                <body name="link_1_x" pos="0 0 0.1">
                    <geom friction="0.9" name="link_1_geom" size="0.05 0.2" pos="0 0 0.2" type="capsule"/>
                    <joint axis="1 0 0" name="joint_1_x" pos="0 0 0" range="-100 100" type="hinge" />
                    <body name="link_2_z" pos="0 0 0.4">
                        <geom friction="0.9" name="link_2_geom" size="0.05 0.05" pos="0 0 0.05" type="capsule" rgba="1 1 1 1"/>
                        <joint axis="0 0 1" name="joint_2_z" pos="0 0 0" range="-180 180" type="hinge" />
                        <body name="link_3_x" pos="0 0 0.1">
                            <geom friction="0.9" name="link_3_geom" size="0.05 0.2" pos="0 0 0.2" type="capsule"/>
                            <joint axis="1 0 0" name="joint_3_x" pos="0 0 0" range="-100 100" type="hinge" />
                            <body name="link_4_z" pos="0 0 0.4">
                                <geom friction="0.9" name="link_4_geom" size="0.05 0.05" pos="0 0 0.05" type="capsule" rgba="1 1 1 1"/>
                                <joint axis="0 0 1" name="joint_4_z" pos="0 0 0" range="-180 180" type="hinge" />
                                <body name="link_5_x" pos="0 0 0.1">
                                    <geom friction="0.9" name="link_5_geom" size="0.05 0.2" pos="0 0 0.2" type="capsule"/>
                                    <joint axis="1 0 0" name="joint_5_x" pos="0 0 0" range="-100 100" type="hinge" />
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>

            <body name="table" pos="0 0 0">
                    <geom conaffinity="1" friction="0.5" pos="0 0 0.25" name="table_geom" size="2 2 0.25" type="box" mass="1000" rgba="0.2 0.2 0.2 1" />
            </body>
            <body name="object" pos="0.3 -0.3 0.5501">
                <joint armature="0" damping="0" limited="false" name="object" pos="0 0 0" type="free" />
                <geom conaffinity="1" friction="0.8" pos="0 0 0" name="object_geom" size="0.05 0.05 0.05" type="box" mass="0.5"/>
            </body>

        </worldbody>
</mujoco>
