<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" />

  <asset>
      <!--Meshes-->
      <mesh name="cell_half_gear" file="cell/cell_half_gear.STL" scale="5 5 5"/>
      <mesh name="cell_half_motor" file="cell/cell_half_motor.STL" scale="5 5 5"/>


      <!--Textures-->
      <texture name="floor_tex"   type="2d"  builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .2 .3" width="100" height="100" />
      <texture builtin="checker" height="100" name="texplane" 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.."/>

      <!--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="60 60" 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>

   <default>
		<geom margin="0.001"/>
        <joint limited="true" damping="0.2" armature=".01"/>
		<default class="cell">
			<geom type="mesh" /> <!-- rgba="0.8 0.6 .4 1" -->
		</default>
   </default>


    <!--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 2.7" 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="40 40 40" type="plane"/>


    <body name="torso" 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"  material="material:object"  />
        <geom  class="cell"  mesh="cell_half_gear"  pos="0 0 0.2"  material="material:object"  />
        <joint name="shoulder_pan_joint"   pos="0 0 0" axis="0 0 1" limited="true" range="-3.14159 3.14159" />
<!--
        <body name="upper_arm_link" pos="0 0 1" quat="0.707107 0 0.707107 0">
            <geom  class="cell"  mesh="half_cell"  pos="0 0 0 " rgba="0.8 1 .4 1" />
        </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>