<mujoco model="cellrobot(v1.0)">
    <compiler angle="radian" coordinate="local" meshdir="meshes" strippath="false" texturedir="textures"/>
    <option gravity="0 0 -9.81" integrator="RK4" timestep="0.001"/>

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

    <default>
        <geom conaffinity="1" condim="3" friction="1 0.5 0.5" margin="0.001"/>
        <mesh scale="1 1 1"/>
        <joint armature=".01" damping="5 " limited="true"/>

        <default class="detacher">
            <geom conaffinity="1" condim="3" friction="1 0.5 0.5" margin="0.001" pos="0 0 0" rgba="0.93 0.71 0.13 1"
                  type="mesh"/>
        </default>
        <default class="cell">
            <geom conaffinity="1" condim="3" friction="1 0.5 0.5" margin="0.001" type="mesh"/>

        </default>


    </default>
    <asset>


        <texture builtin="checker" height="100" name="floor_tex" rgb1=".2 .3 .4" rgb2=".1 .2 .3" type="2d" width="100"/>
        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
        <texture file="block.png" gridlayout=".U..LFRB.D.." gridsize="3 4" name="texture:object" type="cube"/>

        <material name="floor_mat" reflectance="0.5" shininess="0.8" specular="0.7" texrepeat="10 10"
                  texture="floor_tex"/>
        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
        <material name="material:object" reflectance="0" shininess="0" specular="1" texture="texture:object"/>
    </asset>


    <visual>
        <map fogend="3" fogstart="1.5"/>
        <quality shadowsize="20480"/>
    </visual>







    <worldbody>

        <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 axisangle="2 2 -2 1" mode="fixed" name="main1" pos="2 2 2" target="torso"/>

        <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1"
              size="15 15 15" type="plane"/>


        <site name="target1" pos="1 0 0" rgba="1 0.5 0 1" size="0.5 " type="sphere"/>
        <site name="target2" pos="0 0 2.5" rgba="1 0 0 1" size="0.1 " type="sphere"/>


             <body   name="torso" pos="0  0  2.5 ">
                <joint axis="0 0 1" limited="false" name="joint:cell0" pos="0 0 0"/>
                <geom name="beam" pos="0   0 0" size="1  0.5  0.5" type="box"   mass=" 100"/>
                <site name="cell0" pos="0 0 0 " size="0.001 0.001 0.001"/>

            </body>

    </worldbody>

    <actuator>

        <motor    ctrllimited="true" ctrlrange="-1.0 1.0" gear="1" joint="joint:cell0"/>
<!--
        <position kp="10"  ctrllimited="true" ctrlrange="-4.0 4.0" gear="10" joint="joint:cell0"/>
-->
    </actuator>
    <sensor>

        <torque name="cell0_toq" site="cell0"/>

    </sensor>
</mujoco>