<mujoco model="reacher4dof">
	<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="overhead" zaxis="0 0 -1" pos="0 0 0"/>
		<!-- Arena -->
		<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="1. 1. 1. 1" size="1 1 10" type="plane"/>
		<geom conaffinity="0" fromto="-.5 -.5 .01 .5 -.5 .01" name="sideS" rgba="0 0.25 0.5 1" size=".02" type="capsule"/>
		<geom conaffinity="0" fromto=" .5 -.5 .01 .5  .5 .01" name="sideE" rgba="0 0.25 0.5 1" size=".02" type="capsule"/>
		<geom conaffinity="0" fromto="-.5  .5 .01 .5  .5 .01" name="sideN" rgba="0 0.25 0.5 1" size=".02" type="capsule"/>
		<geom conaffinity="0" fromto="-.5 -.5 .01 -.5 .5 .01" name="sideW" rgba="0 0.25 0.5 1" size=".02" type="capsule"/>
		<!-- Arm -->
		<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.1796875 0.796875 0.44140625 1" size=".011" type="cylinder"/>
		<body name="body0" pos="0 0 .01">
			<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.16015625 0.5 0.72265625 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="-1.1 1.1" type="hinge"/>
				<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.16015625 0.5 0.72265625 1" size=".01" type="capsule"/>
				<body name="body2" pos="0.1 0 0">
					<joint axis="0 0 1" limited="true" name="joint2" pos="0 0 0" range="-1.7 1.7" type="hinge"/>
					<geom fromto="0 0 0 0.1 0 0" name="link2" rgba="0.16015625 0.5 0.72265625 1" size=".01" type="capsule"/>
					<body name="body3" pos="0.1 0 0">
						<joint axis="0 0 1" limited="true" name="joint3" pos="0 0 0" range="-1.4 1.4" type="hinge"/>
						<geom fromto="0 0 0 0.1 0 0" name="link3" rgba="0.16015625 0.5 0.72265625 1" size=".01" type="capsule"/>
						<body name="fingertip" pos="0.11 0 0">
							<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.94140625 0.765625 0.05859375 1" size=".01" type="sphere"/>
						</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="-.47 .47" 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="-.47 .47" ref="-.1" stiffness="0" type="slide"/>
			<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="1. 0.4 0. 1" size=".02" type="sphere"/>
		</body>
	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-.5 .5" gear="200.0" joint="joint0"/>
		<motor ctrllimited="true" ctrlrange="-.5 .5" gear="200.0" joint="joint1"/>
		<motor ctrllimited="true" ctrlrange="-.5 .5" gear="200.0" joint="joint2"/>
		<motor ctrllimited="true" ctrlrange="-.5 .5" gear="200.0" joint="joint3"/>
	</actuator>
</mujoco>