<mujoco model="Humanoid and 100 objects">
    <!--  Copyright © 2018, Roboti LLC

          This file is licensed under the MuJoCo Resource License (the "License").
          You may not use this file except in compliance with the License.
          You may obtain a copy of the License at

            https://www.roboti.us/resourcelicense.txt
    -->

    <compiler angle="degree"/>

    <option timestep="0.005" iterations="50" solver="Newton" jacobian="sparse" cone="pyramidal" tolerance="1e-10"/>

    <size njmax="1500" nconmax="500" nstack="5000000"/>

    <default>
        <geom solimp=".9 .9 .01"/>        

        <default class="humanoid">
            <geom material="humanoid"/>        
            <joint damping="1" limited="true"/>
        </default>

        <default class="object1">
            <geom type="capsule" material="object1" size="0.1 0.05"/>
        </default>

        <default class="object2">
            <geom type="ellipsoid" material="object2" size="0.15 0.1 0.07"/>
        </default>

        <default class="object3">
            <geom type="box" material="object3" size="0.15 0.1 0.05"/>
        </default>

        <default class="object4">
            <geom type="cylinder" material="object4" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
        </default>

        <default class="object5">
            <geom type="sphere" material="object5" size="0.1"/>
        </default>

        <default class="border">
            <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
        </default>

        <default class="borderpost">
            <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
        </default>
    </default>

    <asset>
        <texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8" rgb2="0 0 0"/>  
        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" 
            rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>  
        <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" 
            width="512" height="512"/>  
        <material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name='humanoid' texture="texgeom" texuniform="true" rgba="1.2 1.2 0.6 1"/>
        <material name='object1' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
        <material name='object2' texture="texgeom" texuniform="true" rgba=".4 .6 .9 1" />
        <material name='object3' texture="texgeom" texuniform="true" rgba=".4 .9 .9 1" />
        <material name='object4' texture="texgeom" texuniform="true" rgba=".8 .6 .8 1" />
        <material name='object5' texture="texgeom" texuniform="true" rgba=".9 .1 .1 1" />
    </asset>

    <visual>
        <quality shadowsize="4096" offsamples="8"/>
        <map znear="0.1" force="0.05"/>
    </visual>

    <statistic extent="4"/>

    <worldbody>
        <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>

        <geom pos="0 0 0" type="plane" size="3 3 .5" rgba=".7 .7 .7 1" material="MatPlane"/>
       
        <geom class="border" fromto="-3 3 0 3 3 0"  />
        <geom class="border" fromto="-3 -3 0 3 -3 0"  />
        <geom class="border" fromto="3 3 0 3 -3 0"  />
        <geom class="border" fromto="-3 3 0 -3 -3 0"  />
        <geom class="borderpost" pos="3 3 0"/>
        <geom class="borderpost" pos="-3 3 0"/>
        <geom class="borderpost" pos="3 -3 0"/>
        <geom class="borderpost" pos="-3 -3 0"/>

        <body name='torso' pos='0 0 1.4' childclass="humanoid">
            <freejoint name="root"/>
            <geom name='torso1' type='capsule' fromto='0 -.07 0 0 .07 0'  size='0.07'/>
            <geom name='head' type='sphere' pos='0 0 .19' size='.09'/>
            <geom name='uwaist' type='capsule' fromto='-.01 -.06 -.12 -.01 .06 -.12' size='0.06'/>
            <body name='lwaist' pos='-.01 0 -0.260' quat='1.000 0 -0.002 0' >
                <geom name='lwaist' type='capsule' fromto='0 -.06 0 0 .06 0'  size='0.06' />
                <joint name='abdomen_z' type='hinge' pos='0 0 0.065' axis='0 0 1' range='-45 45' damping='5' stiffness='20' armature='0.02' />
                <joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
                <body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
                    <joint name='abdomen_x' type='hinge' pos='0 0 0.1' axis='1 0 0' range='-35 35' damping='5' stiffness='10' armature='0.02' />
                    <geom name='butt' type='capsule' fromto='-.02 -.07 0 -.02 .07 0'  size='0.09' />
                    <body name='right_thigh' pos='0 -0.1 -0.04' >
                        <joint name='right_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5'   damping='5' stiffness='10' armature='0.01' />
                        <joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35'  damping='5' stiffness='10' armature='0.01' />
                        <joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
                        <geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34'  size='0.06' />
                        <body name='right_shin' pos='0 0.01 -0.403' >
                            <joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
                            <geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3'   size='0.049' />
                            <body name='right_foot' pos='0 0 -.39' >
                                <joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0'   range='-50 50' stiffness='4' armature='0.0008' />
                                <joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1'  armature='0.0006' />
                                <geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0'  size='0.027' />
                                <geom name='right_foot_cap2' type='capsule' fromto='-.07 0 0 0.14  0.02 0'  size='0.027' />
                            </body>
                        </body>
                    </body>
                    <body name='left_thigh' pos='0 0.1 -0.04' >
                        <joint name='left_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5'  damping='5' stiffness='10' armature='0.01' />
                        <joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
                        <joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
                        <geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34'  size='0.06' />
                        <body name='left_shin' pos='0 -0.01 -0.403' >
                            <joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
                            <geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3'   size='0.049' />
                            <body name='left_foot' pos='0 0 -.39' >
                                <joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0'   range='-50 50'  stiffness='4' armature='0.0008' />
                                <joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50'  stiffness='1'  armature='0.0006' />
                                <geom name='left_foot_cap1' type='capsule' fromto='-.07 0.02 0 0.14 0.04 0'  size='0.027' />
                                <geom name='left_foot_cap2' type='capsule' fromto='-.07 0 0 0.14  -0.02 0'  size='0.027' />
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name='right_upper_arm' pos='0 -0.17 0.06' >
                <joint name='right_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1'  range='-85 60' stiffness='1' armature='0.0068' />
                <joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1'  armature='0.0051' />
                <geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16'  size='0.04 0.16' />
                <body name='right_lower_arm' pos='.18 -.18 -.18' >
                    <joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50'  stiffness='0' armature='0.0028' />
                    <geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17'  size='0.031' />
                    <geom name='right_hand' type='sphere' pos='.18 .18 .18'  size='0.04'/>
                </body>
            </body>
            <body name='left_upper_arm' pos='0 0.17 0.06' >
                <joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
                <joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85'  stiffness='1' armature='0.0051' />
                <geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16'  size='0.04 0.16' />
                <body name='left_lower_arm' pos='.18 .18 -.18' >
                    <joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
                    <geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17'  size='0.031' />
                    <geom name='left_hand' type='sphere' pos='.18 -.18 .18'  size='0.04'/>
                </body>
            </body>
        </body>


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        <body pos="2 -2 4" quat="0.471405 -0.471405 0.707107 0.235702">
            <freejoint/>
            <geom class="object5"/>
        </body>

        <body pos="2 -1 1" quat="0.755929 -0.377964 0.377964 0.377964">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 -1 2" quat="0.632456 -0.316228 0.632456 0.316228">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 -1 3" quat="0.516398 -0.258199 0.774597 0.258199">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 -1 4" quat="0.516398 -0.258199 0.774597 0.258199">
            <freejoint/>
            <geom class="object5"/>
        </body>

        <body pos="2 0 1" quat="0.816497 0 0.408248 0.408248">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 0 2" quat="0.666667 0 0.666667 0.333333">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 0 3" quat="0.534522 0 0.801784 0.267261">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 0 4" quat="0.534522 0 0.801784 0.267261">
            <freejoint/>
            <geom class="object5"/>
        </body>

        <body pos="2 1 1" quat="0.755929 0.377964 0.377964 0.377964">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 1 2" quat="0.632456 0.316228 0.632456 0.316228">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 1 3" quat="0.516398 0.258199 0.774597 0.258199">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 1 4" quat="0.516398 0.258199 0.774597 0.258199">
            <freejoint/>
            <geom class="object5"/>
        </body>

        <body pos="2 2 1" quat="0.632456 0.632456 0.316228 0.316228">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 2 2" quat="0.5547 0.5547 0.5547 0.27735">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 2 3" quat="0.471405 0.471405 0.707107 0.235702">
            <freejoint/>
            <geom class="object5"/>
        </body>
        <body pos="2 2 4" quat="0.471405 0.471405 0.707107 0.235702">
            <freejoint/>
            <geom class="object5"/>
        </body>
        
    </worldbody>
</mujoco>
