<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="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02"
              type="capsule"/>
        <geom conaffinity="0" fromto=" .3 -.3 .01 .3  .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02"
              type="capsule"/>
        <geom conaffinity="0" fromto="-.3  .3 .01 .3  .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02"
              type="capsule"/>
        <geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .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="true" name="joint1" pos="0 0 0" range="-3.0 3.0" 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="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>
        <!-- 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"/>
    </actuator>
</mujoco>