<mujoco model="benchmark_case">
    <compiler inertiafromgeom='auto' angle='radian' eulerseq='zyx'/>
    <size njmax="5000" nconmax="1000" />
    <option timestep='0.005' iterations='50' solver='PGS' gravity='0 0 -9.81'/>

    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>      

        <material name='MatPlane' reflectance='0.1' texture="texplane" texrepeat="1 1" texuniform="true"/>
    </asset>

    <default>
        <default class="ur10e_actuator">
            <position ctrllimited="true" ctrlrange="-3.14159 3.14159" kp="1000"></position>
        </default>
        <default class="3fGripper">
            <position ctrllimited="true" ctrlrange="-3.14159 3.14159" kp="1000"></position>
        </default>
    </default>
    
    <worldbody>
        <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="MatPlane" condim="3"/>

        <!-- Play Ground -->
        <geom type="box" pos="0 0.75 0.01" size="1.3 0.9 0.01" rgba=".3 .3 .3 1" condim="3"/>
        <geom type="box" pos="1.31 0.75 0.03" size="0.01 0.9 0.03" rgba=".3 .3 .3 1" condim="3" friction="1 1 0"/>
        <geom type="box" pos="-1.31 0.75 0.03" size="0.01 0.9 0.03" rgba=".3 .3 .3 1" condim="3" friction="1 1 0"/>
        <geom type="box" pos="0 -0.16 0.03" size="1.32 0.01 0.03" rgba=".3 .3 .3 1" condim="3" friction="1 1 0"/>
        <geom type="box" pos="0 1.66 0.03" size="1.32 0.01 0.03" rgba=".3 .3 .3 1" condim="3" friction="1 1 0"/>

        <!-- Objekte -->
        <body name="cylinder_1" pos="0 1 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".7 .3 .3 1"/>
            <!--  <joint name='cylinder_1_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_2_1" pos="0 1.1 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .7 .3 1"/>
            <!--  <joint name='cylinder_2_1_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_2_2" pos="0.071 1.071 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .7 .3 1"/>
            <!--  <joint name='cylinder_2_2_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_2_3" pos="0.1 1 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .7 .3 1"/>
            <!--  <joint name='cylinder_2_3_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_2_4" pos="0.071 0.929 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .7 .3 1"/>
            <!--  <joint name='cylinder_2_4_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_2_5" pos="0 0.9 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .7 .3 1"/>
            <!--  <joint name='cylinder_2_5_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_2_6" pos="-0.071 0.929 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .7 .3 1"/>
            <!--  <joint name='cylinder_2_6_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_2_7" pos="-0.1 1 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .7 .3 1"/>
            <!--  <joint name='cylinder_2_7_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_2_8" pos="-0.071 1.071 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .7 .3 1"/>
            <!--  <joint name='cylinder_2_8_joint' type='free' damping='0.01'/> -->
        </body>
    
    
        <body name="cylinder_3_1" pos="0 1.2 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_1_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_2" pos="0.1 1.173 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_2_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_3" pos="0.171 1.104 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_3_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_4" pos="0.2 1 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_4_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_5" pos="0.171 0.896 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_5_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_6" pos="0.1 0.827 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_6_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_7" pos="0 0.8 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_7_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_8" pos="-0.1 0.827 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_8_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_9" pos="-0.171 0.896 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_9_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_10" pos="-0.2 1 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_10_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_11" pos="-0.171 1.104 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_11_joint' type='free' damping='0.01'/> -->
        </body>
    
        <body name="cylinder_3_12" pos="-0.1 1.173 0.07">
            <geom type="cylinder" size="0.02 0.05" rgba=".3 .3 .7 1"/>
            <!--  <joint name='cylinder_3_12_joint' type='free' damping='0.01'/> -->
        </body>

    </worldbody>

    <actuator>
        <position class="ur10e_actuator" joint="axis1" name="base_link_act"></position>
        <position class="ur10e_actuator" joint="axis2" name="shoulder_link_act" ctrlrange="-1.54 1.54"></position>
        <position class="ur10e_actuator" joint="axis3" name="elbow_link_act"></position>
        <position class="ur10e_actuator" joint="axis4" name="wrist_1_link_act"></position>
        <position class="ur10e_actuator" joint="axis5" name="wrist_2_link_act"></position>
        <position class="ur10e_actuator" joint="axis6" name="wrist_3_link_act"></position>
        
        <position class="3fGripper" joint="gripperpalm_finger_1_joint" name="gripperpalm_finger_1_act" ctrlrange="-0.2967 0.2967"></position>
        <position class="3fGripper" joint="gripperfinger_1_joint_1" name="gripperfinger_1_joint_1_act" ctrlrange="0 1.2217"></position>
        <position class="3fGripper" joint="gripperfinger_1_joint_2" name="gripperfinger_1_joint_2_act" ctrlrange="0 1.5708"></position>
        <position class="3fGripper" joint="gripperfinger_1_joint_3" name="gripperfinger_1_joint_3_act" ctrlrange="-0.6632 1.0471"></position>
        <position class="3fGripper" joint="gripperpalm_finger_2_joint" name="gripperpalm_finger_2_act" ctrlrange="-0.2967 0.2967"></position>
        <position class="3fGripper" joint="gripperfinger_2_joint_1" name="gripperfinger_2_joint_1_act" ctrlrange="0 1.2217"></position>
        <position class="3fGripper" joint="gripperfinger_2_joint_2" name="gripperfinger_2_joint_2_act" ctrlrange="0 1.5708"></position>
        <position class="3fGripper" joint="gripperfinger_2_joint_3" name="gripperfinger_2_joint_3_act" ctrlrange="-0.6632 1.0471"></position>
        <!-- <position class="3fGripper" joint="gripperpalm_finger_middle_joint" name="gripperpalm_finger_middle_act"></position> -->
        <position class="3fGripper" joint="gripperfinger_middle_joint_1" name="gripperfinger_middle_joint_1_act" ctrlrange="0 1.2217"></position>
        <position class="3fGripper" joint="gripperfinger_middle_joint_2" name="gripperfinger_middle_joint_2_act" ctrlrange="0 1.5708"></position>
        <position class="3fGripper" joint="gripperfinger_middle_joint_3" name="gripperfinger_middle_joint_3_act" ctrlrange="-0.6632 1.0471"></position>
    </actuator>

    <!-- <keyframe>
        <key time="0.5" qpos="0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 1. 0.07 1. 0. 0. 0. 0. 1.1 0.07 1. 0. 0. 0. 0.071 1.071 0.07 1. 0. 0. 0. 0.1 1. 0.07 1. 0. 0. 0. 0.071 0.929 0.07 1. 0. 0. 0. 0. 0.9 0.07 1. 0. 0. 0. -0.071 0.929 0.07 1. 0. 0. 0. -0.1 1. 0.07 1. 0. 0. 0. -0.071 1.071 0.07 1. 0. 0. 0. 0. 1.2 0.07 1. 0. 0. 0. 0.1 1.173 0.07 1. 0. 0. 0. 0.171 1.104 0.07 1. 0. 0. 0. 0.2 1. 0.07 1. 0. 0. 0. 0.171 0.896 0.07 1. 0. 0. 0. 0.1 0.827 0.07 1. 0. 0. 0. 0. 0.8 0.07 1. 0. 0. 0. -0.1 0.827 0.07 1. 0. 0. 0. -0.171 0.896 0.07 1. 0. 0. 0. -0.2 1. 0.07 1. 0. 0. 0. -0.171 1.104 0.07 1. 0. 0. 0. -0.1 1.173 0.07 1. 0. 0. 0." />
    </keyframe> -->

</mujoco>
