<mujoco model="striker">
  <compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
  <option timestep="0.01" gravity="0 0 0" integrator="RK4"/>

  <default>
	<joint armature='0.04' damping="0" limited="true"/>
	<geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
  </default>

  <worldbody>
	<!--Arena-->
	<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
	<!--Arm-->
	<body name="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" />
	  <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
	  <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
	  <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
	  <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
	  <joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />

	  <body name="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" />
		<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />

		<body name="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" />
		  <joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />

		  <body name="upper_arm_link" pos="0 0 0">
			<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />

			<body name="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" />
			  <joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />

			  <body name="forearm_roll_link" pos="0 0 0">
				<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
				<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>

				<body name="forearm_link" pos="0 0 0">
				  <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />

				  <body name="wrist_flex_link" pos="0.321 0 0">
					<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
					<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />

					<body name="wrist_roll_link" pos="0 0 0">
					  <joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
					  <body name="fingertip" pos="0 0 0">
						<geom name="tip_arml" type="box" pos="0.017 0 0" size="0.003 0.12 0.05" conaffinity="1" contype="1"  />
					  </body>
					  <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" conaffinity="1" contype="1"  />
					</body>
				  </body>
				</body>
			  </body>
			</body>
		  </body>
		</body>
	  </body>
	</body>

	<!--Object-->
	<body name="object" pos="0 0 -0.270" >
	  <geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
	  <joint name="object_x" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
	  <joint name="object_y" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
	</body>

	<!--Target-->
	<body name="target" pos="0.0 0.0 -0.3230">
	  <geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
	  <body pos="0 0 0">
		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
	  </body>
	  <body name="coaster" pos="0 0 0">
		<geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
	  </body>
	  <body pos="0 0 0" axisangle="0 0 1 0.785">
		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
	  </body>
	  <body pos="0 0 0" axisangle="0 0 1 -0.785">
		<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
	  </body>
	  <joint name="target_free" type="free" pos="0 0 0" limited="false" damping="0"/>
	</body>
  </worldbody>

  <actuator>
	<motor joint="shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
	<motor joint="shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
	<motor joint="upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
	<motor joint="elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
	<motor joint="forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
	<motor joint="wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
	<motor joint="wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
  </actuator>

</mujoco>
