<mujoco model="humanoid">
	<compiler angle="degree" inertiafromgeom="true"/>
	<default>
		<joint armature="1" damping="1" limited="true"/>
		<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
		<motor ctrllimited="true" ctrlrange="-.4 .4"/>
	</default>
	<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003"/>
	<size nkey="5" nuser_geom="1"/>
	<visual>
		<map fogend="5" fogstart="3"/>
	</visual>
	<asset>
		<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
		<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
		<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
		<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
		<material name="geom" texture="texgeom" texuniform="true"/>
	</asset>
	<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"/>
		<geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
		<body name="torso" pos="0 0 1.4">
			<camera mode="trackcom" name="track" pos="0 -4 0" xyaxes="1 0 0 0 0 1"/>
			<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
			<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
			<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
			<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
			<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="0.06" type="capsule"/>
				<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
				<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
				<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
					<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
					<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
					<body name="right_thigh" pos="0 -0.1 -0.04">
						<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
						<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
						<joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
						<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
						<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" type="hinge"/>
							<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
							<body name="right_foot" pos="0 0 -0.45">
								<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
							</body>
						</body>
					</body>
					<body name="left_thigh" pos="0 0.1 -0.04">
						<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
						<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
						<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
						<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
						<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" type="hinge"/>
							<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
							<body name="left_foot" pos="0 0 -0.45">
								<geom name="left_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
							</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="1" type="hinge"/>
				<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
				<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
				<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" type="hinge"/>
					<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
					<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
					<camera pos="0 0 0"/>
				</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="1" type="hinge"/>
				<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
				<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
				<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" type="hinge"/>
					<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
					<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
				</body>
			</body>
		</body>
	</worldbody>
	<tendon>
		<fixed name="left_hipknee">
			<joint coef="-1" joint="left_hip_y"/>
			<joint coef="1" joint="left_knee"/>
		</fixed>
		<fixed name="right_hipknee">
			<joint coef="-1" joint="right_hip_y"/>
			<joint coef="1" joint="right_knee"/>
		</fixed>
	</tendon>
	<actuator>
		<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
		<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
		<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
		<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
		<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
		<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
		<motor gear="200" joint="right_knee" name="right_knee"/>
		<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
		<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
		<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
		<motor gear="200" joint="left_knee" name="left_knee"/>
		<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
		<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
		<motor gear="25" joint="right_elbow" name="right_elbow"/>
		<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
		<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
		<motor gear="25" joint="left_elbow" name="left_elbow"/>
	</actuator>
</mujoco>