<mujoco model="quadrotor0">
	<compiler inertiafromgeom="true" coordinate="local"/>
	<option	timestep="0.01" gravity="0 0 -9.81" density="1" viscosity="1e-5" />
	<worldbody>
		<geom name="floor" pos="0 0 -4" size="2 2 .2" type="plane"  conaffinity="1" rgba="1 1 1 1" condim="3"/>
		<body name="quadrotor" pos="0 0 -2">
			<geom name="core" type="box" pos="0 0 0" quat = "1. 0. 0. 0" size="0.06 0.035 0.025"  rgba="0.3 0.3 0.8 1" mass = ".2"/>

			<geom name="a00" type="box" pos=".071 0.071 0.0" size="0.05 0.01 0.0025"  quat = ".924 0.0 0.0 0.383" rgba="0.3 0.3 0.8 1" mass = ".025"/>
			<geom name="a10" type="box" pos=".071 -0.071 0.0" size="0.05 0.01 0.0025"  quat = ".383 0.0 0.0 0.924" rgba="0.3 0.3 0.8 1" mass = ".025"/>
			<geom name="a20" type="box" pos="-0.071 -0.071 0.0" size="0.05 0.01 0.0025"  quat = "-.383 0.0 0.0 0.924" rgba="0.3 0.3 0.8 1" mass = ".025"/>
			<geom name="a30" type="box" pos="-.071 0.071 0.0" size="0.05 0.01 0.0025"  quat = ".924 0.0 0.0 -0.383" rgba="0.3 0.3 0.8 1" mass = ".025"/>

			<joint name="root"   type="free" damping="0" armature="0" pos="0 0 0" />

			<!-- Actuator sites to attach actuators  -->
            <site name="thrust" type="box" pos="0 0 0"  size="0.06 0.035 0.025"  quat = "1.0 0.0 0.0 0." rgba="0.3 0.8 0.3 1"/>
			<site name="rateX" type="box" pos="0 0 0" quat = "1. 0. 0. 0."  size="0.06 0.035 0.025" rgba="0.3 0.8 0.3 1" />
			<site name="rateY" type="box" pos="0 0 0" quat = "1. 0. 0. 0."	size="0.06 0.035 0.025" rgba="0.3 0.8 0.3 1" />
			<site name="rateZ" type="box" pos="0 0 0" quat = "1. 0. 0. 0."  size="0.06 0.035 0.025" rgba="0.3 0.8 0.3 1" />

			<!-- Thruster geometries for collisions since site's are excluded from collision checking -->
            <geom name="thruster0" type="cylinder" pos=" 0.1  0.1  0.01" size="0.05 0.0025"  quat = "1.0 0.0 0.0 0." rgba="0.3 0.8 0.3 1" mass = ".025"/>
            <geom name="thruster1" type="cylinder" pos=" 0.1 -0.1  0.01" size="0.05 0.0025"  quat = "1.0 0.0 0.0 0." rgba="0.3 0.8 0.3 1" mass = ".025"/>
            <geom name="thruster2" type="cylinder" pos="-0.1 -0.1  0.01" size="0.05 0.0025"  quat = "1.0 0.0 0.0 0." rgba="0.3 0.8 0.3 1" mass = ".025"/>
            <geom name="thruster3" type="cylinder" pos="-0.1  0.1  0.01" size="0.05 0.0025"  quat = "1.0 0.0 0.0 0." rgba="0.3 0.8 0.3 1" mass = ".025"/>

            <!-- Visualization of the coordinate frame -->
			<site name="qcX" type="box" pos="0.1 0.0 0.0" size="0.1 0.005 0.005"  quat = " 1.000  0.0  0.0    0."     rgba="1 0 0 1" />
			<site name="qcY" type="box" pos="0.0 0.1 0.0" size="0.1 0.005 0.005"  quat = " 0.707  0.0  0.0    0.707"  rgba="0 1 0 1" />
			<site name="qcZ" type="box" pos="0.0 0.0 0.1" size="0.1 0.005 0.005"  quat = "-0.707  0.0  0.707  0."     rgba="0 0 1 1" />
		</body>
        <!-- <body name="ball" pos="0 0 .6">
            <joint name="ball_joint" type="free" />
            <geom name="ball" type="sphere" size=".05" material="effector" solref="0.02 0.001"/>
        </body> -->
	</worldbody>
    <actuator>
		<motor ctrllimited="true" ctrlrange="0.0 7.0" gear="0  0. 1. 0. 0. 0." site="thrust"/>
		<velocity ctrllimited="true" ctrlrange="-1 1" gear="0. 0. 0. 1. 0. 0." kv="0.1" site="rateX"/>
		<velocity ctrllimited="true" ctrlrange="-1 1" gear="0. 0. 0. 0. 1. 0." kv="0.1" site="rateY"/>
		<velocity ctrllimited="true" ctrlrange="-1 1" gear="0. 0. 0. 0. 0. 1." kv="0.1" site="rateZ"/>
	</actuator>
</mujoco>