<mujoco model="reacher">
<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>
<!-- 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="-.8 -.8 .01 .8 -.8 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02"
type="capsule"/>
<geom conaffinity="0" fromto=" .8 -.8 .01 .8 .8 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02"
type="capsule"/>
<geom conaffinity="0" fromto="-.8 .8 .01 .8 .8 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02"
type="capsule"/>
<geom conaffinity="0" fromto="-.8 -.8 .01 -.8 .8 .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="false" name="joint1" pos="0 0 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="body2" pos="0.1 0 0">
<joint axis="0 0 1" limited="false" name="joint2" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link2" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<body name="body3" pos="0.1 0 0">
<joint axis="0 0 1" limited="false" name="joint3" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link3" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<body name="body4" pos="0.1 0 0">
<joint axis="0 0 1" limited="false" name="joint4" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link4" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
<body name="body5" pos="0.1 0 0">
<joint axis="0 0 1" limited="false" name="joint5" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link5" rgba="0.0 0.4 0.6 1" size=".01"
type="capsule"/>
<body name="body6" pos="0.1 0 0">
<joint axis="0 0 1" limited="true" name="joint6" pos="0 0 0" range="-3.0 3.0"
type="hinge"/>
<geom fromto="0 0 0 0.1 0 0" name="link6" 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>
</body>
</body>
</body>
</body>
</body>
<!-- Target -->
<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" rgba="0.9 0.2 0.2 1" size=".009" 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"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint2"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint3"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint4"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint5"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint6"/>
</actuator>
</mujoco>