<?xml version="1.0" encoding="utf-8"?>
<mujoco model="humanoid">
	<compiler angle="degree" inertiafromgeom="true"></compiler>
	<default>
		<joint armature="1" damping="1.2460447692408776" limited="true"></joint>
		<geom conaffinity="1" condim="3" friction="0.6199902071170182 0.10558917012480018 0.0726782723678998" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"></geom>
		<motor ctrllimited="true" ctrlrange="-.4 .4"></motor>
	</default>
	<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003"></option>
	<size nkey="5" nuser_geom="1"></size>
	<visual>
		<map fogend="5" fogstart="3"></map>
	</visual>
	<worldbody>
		<body name="torso" pos="0 0 1.4">
			<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.059433060603201644" type="capsule"></geom>
			<geom name="head" pos="0 0 .19" size="0.11211700729544144" type="sphere" user="258"></geom>
			<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06788366612158223" type="capsule"></geom>
			<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
				<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.05819497602640467" type="capsule"></geom>
				<joint armature="0.02" axis="0 0 1" damping="6.182961645053141" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="22.344799822121963" type="hinge"></joint>
				<joint armature="0.02" axis="0 1 0" damping="4.835383617337199" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10.60296288509697" type="hinge"></joint>
				<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
					<joint armature="0.02" axis="1 0 0" damping="4.105451613858144" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="11.897781491381071" type="hinge"></joint>
					<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.0952775514736008" type="capsule"></geom>
					<body name="right_thigh" pos="0 -0.1 -0.04">
						<joint armature="0.01" axis="1 0 0" damping="6.086785966769439" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="8.406279560807967" type="hinge"></joint>
						<joint armature="0.01" axis="0 0 1" damping="5.4622459573982285" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="7.205764424815797" type="hinge"></joint>
						<joint armature="0.01" axis="0 1 0" damping="5.912378677714198" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="14.588524381456892" type="hinge"></joint>
						<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.043431044782885994" type="capsule"></geom>
						<body name="right_shin" pos="0 0.01 -0.403">
							<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="0.9730793053360003" type="hinge"></joint>
							<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.04374738888176831" type="capsule"></geom>
							<body name="right_foot" pos="0 0 -0.45">
								<geom name="right_foot" pos="0 0 0.1" size="0.05716070149026066" type="sphere" user="0"></geom>
							</body>
						</body>
					</body>
					<body name="left_thigh" pos="0 0.1 -0.04">
						<joint armature="0.01" axis="-1 0 0" damping="6.259962853465478" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="12.704468849580294" type="hinge"></joint>
						<joint armature="0.01" axis="0 0 -1" damping="4.021198850726725" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="9.300110544809089" type="hinge"></joint>
						<joint armature="0.01" axis="0 1 0" damping="5.162804723203945" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="22.338712969563197" type="hinge"></joint>
						<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.07592011748478439" type="capsule"></geom>
						<body name="left_shin" pos="0 -0.01 -0.403">
							<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1.0799927906582587" type="hinge"></joint>
							<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.060580063490610965" type="capsule"></geom>
							<body name="left_foot" pos="0 0 -0.45">
								<geom name="left_foot" type="sphere" size="0.0560898109041277" pos="0 0 0.1" user="0"></geom>
							</body>
						</body>
					</body>
				</body>
			</body>
			<body name="right_upper_arm" pos="0 -0.17 0.06">
				<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="0.7153988802665503" type="hinge"></joint>
				<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="0.9931848767496115" type="hinge"></joint>
				<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.03936219505991145 0.11509339045659057" type="capsule"></geom>
				<body name="right_lower_arm" pos=".18 -.18 -.18">
					<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0.0" type="hinge"></joint>
					<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.03837944121554811" type="capsule"></geom>
					<geom name="right_hand" pos=".18 .18 .18" size="0.028801023008562323" type="sphere"></geom>
				</body>
			</body>
			<body name="left_upper_arm" pos="0 0.17 0.06">
				<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="0.7932702510829914" type="hinge"></joint>
				<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="0.9611459436268258" type="hinge"></joint>
				<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04390463683276796 0.1971143149912439" type="capsule"></geom>
				<body name="left_lower_arm" pos=".18 .18 -.18">
					<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0.0" type="hinge"></joint>
					<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.037331885620507446" type="capsule"></geom>
					<geom name="left_hand" pos=".18 -.18 .18" size="0.03728225903204368" type="sphere"></geom>
				</body>
			</body>
		</body>
	</worldbody>
	<tendon>
		<fixed name="left_hipknee">
			<joint coef="-1" joint="left_hip_y"></joint>
			<joint coef="1" joint="left_knee"></joint>
		</fixed>
		<fixed name="right_hipknee">
			<joint coef="-1" joint="right_hip_y"></joint>
			<joint coef="1" joint="right_knee"></joint>
		</fixed>
	</tendon>
	<actuator>
		<motor gear="100" joint="abdomen_y" name="abdomen_y"></motor>
		<motor gear="100" joint="abdomen_z" name="abdomen_z"></motor>
		<motor gear="100" joint="abdomen_x" name="abdomen_x"></motor>
		<motor gear="100" joint="right_hip_x" name="right_hip_x"></motor>
		<motor gear="100" joint="right_hip_z" name="right_hip_z"></motor>
		<motor gear="300" joint="right_hip_y" name="right_hip_y"></motor>
		<motor gear="200" joint="right_knee" name="right_knee"></motor>
		<motor gear="100" joint="left_hip_x" name="left_hip_x"></motor>
		<motor gear="100" joint="left_hip_z" name="left_hip_z"></motor>
		<motor gear="300" joint="left_hip_y" name="left_hip_y"></motor>
		<motor gear="200" joint="left_knee" name="left_knee"></motor>
		<motor gear="25" joint="right_shoulder1" name="right_shoulder1"></motor>
		<motor gear="25" joint="right_shoulder2" name="right_shoulder2"></motor>
		<motor gear="25" joint="right_elbow" name="right_elbow"></motor>
		<motor gear="25" joint="left_shoulder1" name="left_shoulder1"></motor>
		<motor gear="25" joint="left_shoulder2" name="left_shoulder2"></motor>
		<motor gear="25" joint="left_elbow" name="left_elbow"></motor>
	</actuator>
</mujoco>