<mujoco model="laikago_description">
    <compiler angle="radian" meshdir="./" />
    <size njmax="500" nconmax="100" />
    <asset>
        <mesh name="trunk" file="trunk.stl" />
        <mesh name="hip" file="hip.stl" />
        <mesh name="thigh_mirror" file="thigh_mirror.stl" />
        <mesh name="calf" file="calf.stl" />
        <mesh name="thigh" file="thigh.stl" />
<!--        <mesh name="stair" file="stair.stl" />-->
 	<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
            rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
    </asset>
<!--    <option gravity="0 0 0"/>-->
    <worldbody>
	<geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
<!--    <geom type="mesh" pos="5 0 0" quat="0.5 0.5 -0.5 -0.5" rgba="1 1 0 1" mesh="stair" material="matgeom" />-->
	<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
        <light mode="targetbodycom" target="trunk" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
        <body name="trunk" pos="0 0 0.45">
<!--		<joint name="root"/>-->
        <freejoint name="root"/>
            <inertial pos="0.002284 -4.1e-05 0.025165" quat="-0.00605949 0.710803 -0.00734309 0.703327" mass="13.733" diaginertia="0.254491 0.250684 0.0733281" />
            <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 0.423529 0.0392157 1" mesh="trunk" />
            <geom name="trunk_skeleton" size="0.2808 0.086 0.09375" pos="0 0 0.01675" type="box" rgba="0.1 0.423529 0.0392157 0" />
            <body name="FR_hip" pos="0.21935 -0.0875 0">
                <inertial pos="-0.001568 0.008134 0.000864" quat="0.629953 0.350191 0.35823 0.593462" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
                <joint name="FR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
                <geom quat="0 1 0 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
                <geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" />
                <body name="FR_thigh" pos="0 -0.037 0">
                    <inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
                    <joint name="FR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
                    <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" />
                    <body name="FR_calf" pos="0 0 -0.25">
                        <inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
                        <joint name="FR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
                        <geom name="FR_calf_skeleton" size="0.117 0.008 0.008" pos="0 0 -0.117" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
                        <geom name="FR_toe" size="0.008 0.008 0.008" pos="0 0 -0.242" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
                    </body>
                </body>
            </body>
            <body name="FL_hip" pos="0.21935 0.0875 0">
                <inertial pos="-0.001568 -0.008134 0.000864" quat="0.593462 0.35823 0.350191 0.629953" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
                <joint name="FL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" />
                <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
                <geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" />
                <body name="FL_thigh" pos="0 0.037 0">
                    <inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
                    <joint name="FL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
                    <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" />
                    <body name="FL_calf" pos="0 0 -0.25">
                        <inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
                        <joint name="FL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
                        <geom name="FL_calf_skeleton" size="0.117 0.008 0.008" pos="0 0 -0.117" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
                        <geom name="FL_toe" size="0.008 0.008 0.008" pos="0 0 -0.242" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
                    </body>
                </body>
            </body>
            <body name="RR_hip" pos="-0.21935 -0.0875 0">
                <inertial pos="0.001568 0.008134 0.000864" quat="0.35823 0.593462 0.629953 0.350191" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
                <joint name="RR_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-1.0472 0.872665" />
                <geom quat="0 0 0 -1" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
                <geom size="0.041 0.04" pos="0 0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" />
                <body name="RR_thigh" pos="0 -0.037 0">
                    <inertial pos="-0.000482 -0.02001 -0.031996" quat="0.999848 0.00577968 -0.0153453 -0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
                    <joint name="RR_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh_mirror" />
                    <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" />
                    <body name="RR_calf" pos="0 0 -0.25">
                        <inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
                        <joint name="RR_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
                        <geom name="RR_calf_skeleton" size="0.117 0.008 0.008" pos="0 0 -0.117" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
                        <geom name="RR_toe" size="0.008 0.008 0.008" pos="0 0 -0.242" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
                    </body>
                </body>
            </body>
            <body name="RL_hip" pos="-0.21935 0.0875 0">
                <inertial pos="0.001568 -0.008134 0.000864" quat="0.350191 0.629953 0.593462 0.35823" mass="1.096" diaginertia="0.000983491 0.000885646 0.000800926" />
                <joint name="RL_hip_joint" pos="0 0 0" axis="1 0 0" limited="true" range="-0.872665 1.0472" />
                <geom quat="0 0 1 0" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="hip" />
                <geom size="0.041 0.04" pos="0 -0.021 0" quat="0.707107 0.707107 0 0" type="cylinder" rgba="0.2 0.2 0.2 1" />
                <body name="RL_thigh" pos="0 0.037 0">
                    <inertial pos="-0.000482 0.02001 -0.031996" quat="0.999848 -0.00577968 -0.0153453 0.00595156" mass="1.528" diaginertia="0.00992391 0.00928096 0.00177389" />
                    <joint name="RL_thigh_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.523599 3.92699" />
                    <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="thigh" />
                    <geom size="0.125 0.017 0.0215" pos="0 0 -0.125" quat="0.707107 0 0.707107 0" type="box" rgba="0.2 0.2 0.2 1" />
                    <body name="RL_calf" pos="0 0 -0.25">
                        <inertial pos="-0.002196 -0.000381 -0.12338" quat="0.712765 0.000467477 -0.000119366 0.701402" mass="0.241" diaginertia="0.00619655 0.00618196 3.47683e-05" />
                        <joint name="RL_calf_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-2.77507 -0.610865" />
                        <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.913725 0.913725 0.847059 1" mesh="calf" />
                        <geom name="RL_calf_skeleton" size="0.117 0.008 0.008" pos="0 0 -0.117" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
                        <geom name="RL_toe" size="0.008 0.008 0.008" pos="0 0 -0.242" quat="0.707107 0 0.707107 0" type="box" rgba="0.913725 0.913725 0.847059 1" />
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
   <actuator>
    <motor name="FR_hip_joint"       gear="1" joint="FR_hip_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="FR_thigh_joint"       gear="1" joint="FR_thigh_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="FR_calf_joint"       gear="1" joint="FR_calf_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="FL_hip_joint"       gear="1" joint="FL_hip_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="FL_thigh_joint"       gear="1" joint="FL_thigh_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="FL_calf_joint"       gear="1" joint="FL_calf_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="RR_hip_joint"       gear="1" joint="RR_hip_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="RR_thigh_joint"       gear="1" joint="RR_thigh_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="RR_calf_joint"       gear="1" joint="RR_calf_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="RL_hip_joint"       gear="1" joint="RL_hip_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="RL_thigh_joint"       gear="1" joint="RL_thigh_joint" ctrlrange="-40 40" ctrllimited="true"/>
    <motor name="RL_calf_joint"       gear="1" joint="RL_calf_joint" ctrlrange="-40 40" ctrllimited="true"/>


    </actuator>
</mujoco>
