<mujoco model="verticalArm">
	<compiler angle="radian" inertiafromgeom="auto"/>
	<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>

		<!-- Arm -->
		<geom conaffinity="0" contype="0" fromto="0 0 0 0 0.02 0" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
		<body name="shoulder" pos="0 0.01 -.005">
			<geom fromto="0 0 0 0.11 0 0" name="shoulder" rgba="0.0 0.4 0.6 1" size=".01" type="capsule" mass="2"/>
			<joint axis="0 1 0" limited="false" range="-2 2" name="shoulder" pos="0 0 0" type="hinge" damping="1"  stiffness="0"/>
			<site name="shoulder" pos="0 0 0" size=".003 .003 .003" type="ellipsoid" rgba="0.3 0.2 0.1 0.3"/>
			<body name="elbow" pos="0.11 0 0">
				<joint axis="0 1 0" limited="true" name="elbow" pos="0 0 0" range="-3 3" type="hinge" damping="0."  stiffness="0"/>#-2.8
				<site name="elbow" pos="0 0 0" size=".003 .003 .003" type="ellipsoid" rgba="0.3 0.2 0.1 0.3"/>
				<geom fromto="0 0 0 0.1 0 0" name="elbow" rgba="0.0 0.4 0.6 1" size=".01" type="capsule" mass="1"/>#5.75
				<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"  mass="0.33"/>#2
				</body>
			</body>
		</body>

		<!-- Target -->

		<body name="target" pos=".15 0.01 -.1">
			<!--<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 0 1" damping="0" limited="true" name="target_z" 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" mass="0.0000000001"/>-->
			<site  name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009 .009 .009" type="sphere" />

		</body>
		<body name="target1" pos=".15 0.01 0."><!-- <body name="target1" pos=".15 0.01 0.">   <body name="target1" pos="-.15 0.01 -.1">-->
			<!--<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 0 1" damping="0" limited="true" name="target_z" 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" mass="0.0000000001"/>-->
			<site  name="target1" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009 .009 .009" type="sphere" />

		</body>

	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="30.0" joint="shoulder"/><!--#50.0 20-->
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="25.0" joint="elbow"/><!--#40.0 20-->
	</actuator>
	<sensor>
        <torque site="shoulder" name="torque_sensor0"/>
		<torque site="elbow" name="torque_sensor1"/>
  </sensor>
</mujoco>
