<mujoco model="humanoid">
  <compiler angle="degree" inertiafromgeom="true" coordinate="global"/>
  <include file="./common/materials.xml"/>
  <visual>
    <headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular="0.1 0.1 0.1"/>
    <map znear=".01"/>
    <quality shadowsize="2048"/>
  </visual>
  <default>
    <joint damping="0.0" armature="0.01" stiffness="0.0" limited="true"/>
    <geom conaffinity="7" condim="1" contype="7" margin="0.001" material="self" rgba="0.8 0.6 .4 1"/>
  </default>
  <statistic extent="3" center="0 0 1"/>
  <option timestep="0.00222222222"/>
  <asset>
    <texture type="skybox" file="./common/sky1.png" gridsize="3 4" gridlayout=".U..LFRB.D.." width="8192" height="8192"/>
    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1=".8 .6 .4" rgb2=".8 .6 .4" type="cube" width="127"/>
  </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="grid" name="floor" pos="0 0 0" rgba=".8 .9 .8 1" size="100 100 .2" type="plane"/>
    <body name="Hips" user="0.0000 0.0146 0.0054">
      <joint armature="0" damping="0" limited="false" name="Hips" pos="0.0000 0.0000 0.0000" stiffness="0" type="free"/>
      <geom pos="0.0000 0.0000 0.0000" size="0.03" type="sphere"/>
      <body name="Spine" user="0.0000 0.0591 0.1523">
        <joint axis="1.0000 0.0000 0.0000" name="Spine_x" pos="0.0000 0.0439 0.0658" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 1.0000 0.0000" name="Spine_y" pos="0.0000 0.0439 0.0658" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 0.0000 1.0000" name="Spine_z" pos="0.0000 0.0439 0.0658" range="-180.0000 180.0000" type="hinge"/>
        <geom fromto="0.0000 0.0474 0.0855 0.0000 0.0557 0.1326" size="0.03" type="capsule"/>
        <body name="Spine1" user="0.0000 0.0668 0.2397">
          <joint axis="1.0000 0.0000 0.0000" name="Spine1_x" pos="0.0000 0.0591 0.1523" range="-180.0000 180.0000" type="hinge"/>
          <joint axis="0.0000 1.0000 0.0000" name="Spine1_y" pos="0.0000 0.0591 0.1523" range="-180.0000 180.0000" type="hinge"/>
          <joint axis="0.0000 0.0000 1.0000" name="Spine1_z" pos="0.0000 0.0591 0.1523" range="-180.0000 180.0000" type="hinge"/>
          <geom fromto="0.0000 0.0609 0.1722 0.0000 0.0650 0.2198" size="0.03" type="capsule"/>
          <body name="Spine2" user="0.0000 0.0668 0.3275">
            <joint axis="1.0000 0.0000 0.0000" name="Spine2_x" pos="0.0000 0.0668 0.2397" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 1.0000 0.0000" name="Spine2_y" pos="0.0000 0.0668 0.2397" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 0.0000 1.0000" name="Spine2_z" pos="0.0000 0.0668 0.2397" range="-180.0000 180.0000" type="hinge"/>
            <geom fromto="0.0000 0.0668 0.2597 0.0000 0.0668 0.3075" size="0.03" type="capsule"/>
            <body name="Spine3" user="0.0000 0.0240 0.5074">
              <joint axis="1.0000 0.0000 0.0000" name="Spine3_x" pos="0.0000 0.0668 0.3275" range="-180.0000 180.0000" type="hinge"/>
              <joint axis="0.0000 1.0000 0.0000" name="Spine3_y" pos="0.0000 0.0668 0.3275" range="-180.0000 180.0000" type="hinge"/>
              <joint axis="0.0000 0.0000 1.0000" name="Spine3_z" pos="0.0000 0.0668 0.3275" range="-180.0000 180.0000" type="hinge"/>
              <geom fromto="0.0000 0.0622 0.3469 0.0000 0.0286 0.4879" size="0.03" type="capsule"/>
              <body name="Neck" user="0.0000 0.0129 0.6768">
                <joint axis="1.0000 0.0000 0.0000" name="Neck_x" pos="0.0000 0.0339 0.5579" range="-180.0000 180.0000" type="hinge"/>
                <joint axis="0.0000 1.0000 0.0000" name="Neck_y" pos="0.0000 0.0339 0.5579" range="-180.0000 180.0000" type="hinge"/>
                <joint axis="0.0000 0.0000 1.0000" name="Neck_z" pos="0.0000 0.0339 0.5579" range="-180.0000 180.0000" type="hinge"/>
                <geom fromto="0.0000 0.0304 0.5776 0.0000 0.0164 0.6571" size="0.03" type="capsule"/>
                <body name="Head" user="0.0000 0.0129 0.8188">
                  <joint axis="1.0000 0.0000 0.0000" name="Head_x" pos="0.0000 0.0129 0.6768" range="-180.0000 180.0000" type="hinge"/>
                  <joint axis="0.0000 1.0000 0.0000" name="Head_y" pos="0.0000 0.0129 0.6768" range="-180.0000 180.0000" type="hinge"/>
                  <joint axis="0.0000 0.0000 1.0000" name="Head_z" pos="0.0000 0.0129 0.6768" range="-180.0000 180.0000" type="hinge"/>
                  <geom fromto="0.0000 0.0129 0.6968 0.0000 0.0129 0.7988" size="0.03" type="capsule"/>
                </body>
              </body>
              <body name="RightShoulder" user="-0.1708 0.0191 0.4821">
                <joint axis="1.0000 0.0000 0.0000" name="RightShoulder_x" pos="-0.0286 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                <joint axis="0.0000 1.0000 0.0000" name="RightShoulder_y" pos="-0.0286 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                <joint axis="0.0000 0.0000 1.0000" name="RightShoulder_z" pos="-0.0286 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                <geom fromto="-0.0486 0.0191 0.4821 -0.1508 0.0191 0.4821" size="0.03" type="capsule"/>
                <body name="RightArm" user="-0.4103 0.0191 0.4821">
                  <joint axis="1.0000 0.0000 0.0000" name="RightArm_x" pos="-0.1708 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                  <joint axis="0.0000 1.0000 0.0000" name="RightArm_y" pos="-0.1708 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                  <joint axis="0.0000 0.0000 1.0000" name="RightArm_z" pos="-0.1708 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                  <geom fromto="-0.1908 0.0191 0.4821 -0.3903 0.0191 0.4821" size="0.03" type="capsule"/>
                  <body name="RightForeArm" user="-0.6643 0.0191 0.4821">
                    <joint axis="0.0000 0.0000 1.0000" name="RightForeArm_z" pos="-0.4103 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                    <geom fromto="-0.4303 0.0191 0.4821 -0.6443 0.0191 0.4821" size="0.03" type="capsule"/>
                    <body name="RightHand" user="-0.7282 0.0191 0.4821">
                      <joint axis="1.0000 0.0000 0.0000" name="RightHand_x" pos="-0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                      <joint axis="0.0000 1.0000 0.0000" name="RightHand_y" pos="-0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                      <joint axis="0.0000 0.0000 1.0000" name="RightHand_z" pos="-0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                      <geom fromto="-0.6843 0.0191 0.4821 -0.7082 0.0191 0.4821" size="0.03" type="capsule"/>
                    </body>
                  </body>
                </body>
              </body>
              <body name="LeftShoulder" user="0.1708 0.0191 0.4821">
                <joint axis="1.0000 0.0000 0.0000" name="LeftShoulder_x" pos="0.0286 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                <joint axis="0.0000 1.0000 0.0000" name="LeftShoulder_y" pos="0.0286 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                <joint axis="0.0000 0.0000 1.0000" name="LeftShoulder_z" pos="0.0286 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                <geom fromto="0.0486 0.0191 0.4821 0.1508 0.0191 0.4821" size="0.03" type="capsule"/>
                <body name="LeftArm" user="0.4103 0.0191 0.4821">
                  <joint axis="1.0000 0.0000 0.0000" name="LeftArm_x" pos="0.1708 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                  <joint axis="0.0000 1.0000 0.0000" name="LeftArm_y" pos="0.1708 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                  <joint axis="0.0000 0.0000 1.0000" name="LeftArm_z" pos="0.1708 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                  <geom fromto="0.1908 0.0191 0.4821 0.3903 0.0191 0.4821" size="0.03" type="capsule"/>
                  <body name="LeftForeArm" user="0.6643 0.0191 0.4821">
                    <joint axis="0.0000 0.0000 1.0000" name="LeftForeArm_z" pos="0.4103 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                    <geom fromto="0.4303 0.0191 0.4821 0.6443 0.0191 0.4821" size="0.03" type="capsule"/>
                    <body name="LeftHand" user="0.7282 0.0191 0.4821">
                      <joint axis="1.0000 0.0000 0.0000" name="LeftHand_x" pos="0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                      <joint axis="0.0000 1.0000 0.0000" name="LeftHand_y" pos="0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                      <joint axis="0.0000 0.0000 1.0000" name="LeftHand_z" pos="0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                      <geom fromto="0.6843 0.0191 0.4821 0.7082 0.0191 0.4821" size="0.03" type="capsule"/>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="RightUpLeg" user="-0.0849 0.0000 -0.4027">
        <joint axis="1.0000 0.0000 0.0000" name="RightUpLeg_x" pos="-0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 1.0000 0.0000" name="RightUpLeg_y" pos="-0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 0.0000 1.0000" name="RightUpLeg_z" pos="-0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <geom fromto="-0.0849 0.0000 -0.0448 -0.0849 0.0000 -0.3827" size="0.03" type="capsule"/>
        <body name="RightLeg" user="-0.0849 0.0000 -0.7988">
          <joint axis="1.0000 0.0000 0.0000" name="RightLeg_x" pos="-0.0849 0.0000 -0.4027" range="-180.0000 180.0000" type="hinge"/>
          <geom fromto="-0.0849 0.0000 -0.4227 -0.0849 0.0000 -0.7788" size="0.03" type="capsule"/>
          <body name="RightFoot" user="-0.0849 -0.1308 -0.8464">
            <joint axis="1.0000 0.0000 0.0000" name="RightFoot_x" pos="-0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 1.0000 0.0000" name="RightFoot_y" pos="-0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 0.0000 1.0000" name="RightFoot_z" pos="-0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <geom fromto="-0.0849 -0.0188 -0.8057 -0.0849 -0.1121 -0.8396" size="0.03" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="LeftUpLeg" user="0.0849 0.0000 -0.4027">
        <joint axis="1.0000 0.0000 0.0000" name="LeftUpLeg_x" pos="0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 1.0000 0.0000" name="LeftUpLeg_y" pos="0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 0.0000 1.0000" name="LeftUpLeg_z" pos="0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <geom fromto="0.0849 0.0000 -0.0448 0.0849 0.0000 -0.3827" size="0.03" type="capsule"/>
        <body name="LeftLeg" user="0.0849 0.0000 -0.7988">
          <joint axis="1.0000 0.0000 0.0000" name="LeftLeg_x" pos="0.0849 0.0000 -0.4027" range="-180.0000 180.0000" type="hinge"/>
          <geom fromto="0.0849 0.0000 -0.4227 0.0849 0.0000 -0.7788" size="0.03" type="capsule"/>
          <body name="LeftFoot" user="0.0849 -0.1308 -0.8464">
            <joint axis="1.0000 0.0000 0.0000" name="LeftFoot_x" pos="0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 1.0000 0.0000" name="LeftFoot_y" pos="0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 0.0000 1.0000" name="LeftFoot_z" pos="0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <geom fromto="0.0849 -0.0188 -0.8057 0.0849 -0.1121 -0.8396" size="0.03" type="capsule"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor gear="1" joint="Spine_x" name="Spine_x"/>
    <motor gear="1" joint="Spine_y" name="Spine_y"/>
    <motor gear="1" joint="Spine_z" name="Spine_z"/>
    <motor gear="1" joint="Spine1_x" name="Spine1_x"/>
    <motor gear="1" joint="Spine1_y" name="Spine1_y"/>
    <motor gear="1" joint="Spine1_z" name="Spine1_z"/>
    <motor gear="1" joint="Spine2_x" name="Spine2_x"/>
    <motor gear="1" joint="Spine2_y" name="Spine2_y"/>
    <motor gear="1" joint="Spine2_z" name="Spine2_z"/>
    <motor gear="1" joint="Spine3_x" name="Spine3_x"/>
    <motor gear="1" joint="Spine3_y" name="Spine3_y"/>
    <motor gear="1" joint="Spine3_z" name="Spine3_z"/>
    <motor gear="1" joint="Neck_x" name="Neck_x"/>
    <motor gear="1" joint="Neck_y" name="Neck_y"/>
    <motor gear="1" joint="Neck_z" name="Neck_z"/>
    <motor gear="1" joint="Head_x" name="Head_x"/>
    <motor gear="1" joint="Head_y" name="Head_y"/>
    <motor gear="1" joint="Head_z" name="Head_z"/>
    <motor gear="1" joint="RightShoulder_x" name="RightShoulder_x"/>
    <motor gear="1" joint="RightShoulder_y" name="RightShoulder_y"/>
    <motor gear="1" joint="RightShoulder_z" name="RightShoulder_z"/>
    <motor gear="1" joint="RightArm_x" name="RightArm_x"/>
    <motor gear="1" joint="RightArm_y" name="RightArm_y"/>
    <motor gear="1" joint="RightArm_z" name="RightArm_z"/>
    <motor gear="1" joint="RightForeArm_z" name="RightForeArm_z"/>
    <motor gear="1" joint="RightHand_x" name="RightHand_x"/>
    <motor gear="1" joint="RightHand_y" name="RightHand_y"/>
    <motor gear="1" joint="RightHand_z" name="RightHand_z"/>
    <motor gear="1" joint="LeftShoulder_x" name="LeftShoulder_x"/>
    <motor gear="1" joint="LeftShoulder_y" name="LeftShoulder_y"/>
    <motor gear="1" joint="LeftShoulder_z" name="LeftShoulder_z"/>
    <motor gear="1" joint="LeftArm_x" name="LeftArm_x"/>
    <motor gear="1" joint="LeftArm_y" name="LeftArm_y"/>
    <motor gear="1" joint="LeftArm_z" name="LeftArm_z"/>
    <motor gear="1" joint="LeftForeArm_z" name="LeftForeArm_z"/>
    <motor gear="1" joint="LeftHand_x" name="LeftHand_x"/>
    <motor gear="1" joint="LeftHand_y" name="LeftHand_y"/>
    <motor gear="1" joint="LeftHand_z" name="LeftHand_z"/>
    <motor gear="1" joint="RightUpLeg_x" name="RightUpLeg_x"/>
    <motor gear="1" joint="RightUpLeg_y" name="RightUpLeg_y"/>
    <motor gear="1" joint="RightUpLeg_z" name="RightUpLeg_z"/>
    <motor gear="1" joint="RightLeg_x" name="RightLeg_x"/>
    <motor gear="1" joint="RightFoot_x" name="RightFoot_x"/>
    <motor gear="1" joint="RightFoot_y" name="RightFoot_y"/>
    <motor gear="1" joint="RightFoot_z" name="RightFoot_z"/>
    <motor gear="1" joint="LeftUpLeg_x" name="LeftUpLeg_x"/>
    <motor gear="1" joint="LeftUpLeg_y" name="LeftUpLeg_y"/>
    <motor gear="1" joint="LeftUpLeg_z" name="LeftUpLeg_z"/>
    <motor gear="1" joint="LeftLeg_x" name="LeftLeg_x"/>
    <motor gear="1" joint="LeftFoot_x" name="LeftFoot_x"/>
    <motor gear="1" joint="LeftFoot_y" name="LeftFoot_y"/>
    <motor gear="1" joint="LeftFoot_z" name="LeftFoot_z"/>
  </actuator>
</mujoco>
