<mujoco model="cellrobot(v1.0)">
  <compiler coordinate="local" angle="radian" meshdir="meshes" texturedir="textures" strippath="false" />
   <option gravity="0 0 -9.81" timestep="0.01"/>

  <size njmax="795" nconmax="250" nstack="631875" />

 <default>
        <geom margin="0.001" contype='1' conaffinity='1'  condim='4'/>
        <mesh scale="50 50 50"/>
        <joint limited="true" damping="0.2" armature=".01"/>

         <default class="detacher">
                <geom type="mesh" pos="0 0 0" rgba="0.93 0.71 0.13 1"  /> <!-- rgba="0.8 0.6 .4 1" -->
        </default>
        <default class="cell">
            <geom type="mesh" /> <!-- rgba="0.8 0.6 .4 1" -->

        </default>


   </default>
  <asset>
      <!--Meshes-->
      <mesh name="cell_half_gear" file="cell_gear/shell_gear.STL"  />
      <mesh name="detacher1" file="cell_gear/detacher1.STL"  />
      <mesh name="detacher2" file="cell_gear/detacher2.STL"  />
      <mesh name="detacher3" file="cell_gear/detacher3.STL"  />
      <mesh name="detacher4" file="cell_gear/detacher4.STL"  />
      <mesh name="circle_gear" file="cell_gear/circle_gear.STL"  />
      <mesh name="led_gear" file="cell_gear/led_gear.STL"  />

      <mesh name="cell_half_motor" file="cell_motor/shell_motor.STL"  />
      <mesh name="detacher5" file="cell_motor/detacher5.STL"  />
      <mesh name="detacher6" file="cell_motor/detacher6.STL"  />
      <mesh name="detacher7" file="cell_motor/detacher7.STL"  />
      <mesh name="detacher8" file="cell_motor/detacher8.STL"  />
      <mesh name="circle_motor" file="cell_motor/circle_motor.STL"  />
      <mesh name="led_motor" file="cell_motor/led_motor.STL"  />
      <!--Textures-->
      <texture name="floor_tex" builtin="checker"  type="2d"   rgb1=".2 .3 .4" rgb2=".1 .2 .3" width="100" height="100" />
      <texture name="texplane"  builtin="checker" height="100" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>

      <texture name="texture:object" file="block.png" type="cube" gridsize="3 4" gridlayout=".U..LFRB.D.."/>  <!-- gridlayout=".U..LFRB.D.." -->

      <!--Materials-->
      <material name='floor_mat'    texture="floor_tex"  shininess="0.8" texrepeat="10 10" specular="0.7"  reflectance="0.5" />
      <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="70 70" texture="texplane"/>

      <material name="material:object" texture="texture:object" specular="1" shininess="0" reflectance="0"/>
  </asset>


   <visual>
        <map fogstart="1.5" fogend="3"/>
        <quality shadowsize="2048"/>
   </visual>

    <!--Contacts-->
    <contact>

    </contact>

  <worldbody>
    <!--Lighting parameters-->
    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <!--Camera parameters-->
   <camera name="main1" mode="fixed" target="torso" pos="2 2 2" axisangle="2 2 -2 1"/>
    <!--Floor Property-->
    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="35 35 35" type="plane"/>

   <body name="torso" pos="0 0 0">

          <geom name="torso_geom" pos="0 0 0" density="0.000001" size="0.02" type="sphere"/>
          <joint name="root" armature="0" damping="0" limited="false" margin="0.01"  pos="0 0 0" type="free"/>
     <body name="cell0-1" pos="0  0  2.050 " euler =" 0   0  0">   <!-- 2.0150 2.0150 1.9147  1.9817 1.9817 1.9814 z*scale  2.6138 1.8479 2.2641 quat="0 -0.4082, -0.4082, 0.81654 "  euler =" 0 3.1416 0"-->
        <inertial pos="0 0 0"   mass="4"  diaginertia="0.0072 0.00443333 0.00443333" />
        <geom  class="cell"  mesh="cell_half_gear"  pos="0 0 0"   rgba="1 1 1 1"  />
        <geom  class="detacher"  mesh="detacher1"   rgba="1 0.42 0.42 1"  />
        <geom  class="detacher"  mesh="detacher2"   />
        <geom  class="detacher"  mesh="detacher3"    />
        <geom  class="detacher"  mesh="detacher4"    />
        <geom  class="cell"  mesh="circle_gear"  pos="0 0 0"  rgba="0 0 0 1"  />
        <geom  class="cell"  mesh="led_gear"  pos="0 0 0"  rgba="0.53 0.81 0.98 1"  />

        <site name="test" pos="1.0075 1.0075 0.9574" size="0.02 "  rgba="1 0.5 0 1" type="sphere"></site>

         <body name="cell1-2" pos="2.0150 2.0150 1.9147"    quat ="0.0 -0.70710678 0.70710678 -0.0" >
                <inertial pos="0 0 0"   mass="4"  diaginertia="0.0072 0.00443333 0.00443333" />
                <geom  class="cell"  mesh="cell_half_motor"  pos="0 0 0"   rgba="1 1 1 1"  />
                <geom  class="detacher"  mesh="detacher5"    />
                <geom  class="detacher"  mesh="detacher6"   />
                <geom  class="detacher"  mesh="detacher7"    />
                <geom  class="detacher"  mesh="detacher8"    />
                <geom  class="cell"  mesh="circle_motor"  pos="0 0 0"  rgba="0 0 0 1"  />
                 <geom  class="cell"  mesh="led_motor"  pos="0 0 0"  rgba="0.53 0.81 0.98 1"  />
                <body name="cell1-1" pos="0 0 0" >
                        <inertial pos="0 0 0"   mass="4"  diaginertia="0.0072 0.00443333 0.00443333" />
                        <geom  class="cell"  mesh="cell_half_gear"  pos="0 0 0"   rgba="1 1 1 1"  />
                        <geom  class="detacher"  mesh="detacher1"   rgba="1 0.42 0.42 1"  />
                        <geom  class="detacher"  mesh="detacher2"   />
                        <geom  class="detacher"  mesh="detacher3"    />
                        <geom  class="detacher"  mesh="detacher4"    />
                        <geom  class="cell"  mesh="circle_gear"  pos="0 0 0"  rgba="0 0 0 1"  />
                        <geom  class="cell"  mesh="led_gear"  pos="0 0 0"  rgba="0.53 0.81 0.98 1"  />

                     <joint name="shoulder_pan_joint2"   pos="0 0 -0.05" axis="0 0 1" limited="true" range="-3.14159 3.14159" />



                 </body>
            </body>




         <joint name="shoulder_pan_joint"   pos="0 0 -0.05" axis="0 0 1" limited="true" range="-3.14159 3.14159" />

        <body name="cell0-2" pos="0 0 0" >
            <inertial pos="0 0 0"   mass="4"  diaginertia="0.0072 0.00443333 0.00443333" />
            <geom  class="cell"  mesh="cell_half_motor"  pos="0 0 0"   rgba="1 1 1 1"  />
            <geom  class="detacher"  mesh="detacher5"    />
            <geom  class="detacher"  mesh="detacher6"   />
            <geom  class="detacher"  mesh="detacher7"    />
            <geom  class="detacher"  mesh="detacher8"    />
            <geom  class="cell"  mesh="circle_motor"  pos="0 0 0"  rgba="0 0 0 1"  />
             <geom  class="cell"  mesh="led_motor"  pos="0 0 0"  rgba="0.53 0.81 0.98 1"  />

        </body>
      </body>
   </body>

      <!--
  <site name="target0" pos="0 0 0" size="0.5 "  rgba="1 0 0 1" type="sphere"></site>
-->
  <site name="target1" pos="1 0 0" size="0.5 "  rgba="1 0.5 0 1" type="sphere"></site>

  <site name="target2" pos="0 0 1" size="0.04 "  rgba="1 0 0 1" type="sphere"></site>
  </worldbody>

</mujoco>