<mujoco model="Humanoid">
    <compiler coordinate="local" angle="radian" />
    <size nlmax="50" ncmax="50" njmax="200" nctotmax="50" ngeom_user="1" nstack="82825"/>
    <default>
        <joint islimited="true" armature="0.2" damping="0.1" compliance="0.01" timeconst="0.01" />
        <geom condim="3" conaffinity="0" mindist="0.1" friction="1 0.5 0.5" rgba="0.8 0.6 0.4 1" compliance="0.01"  timeconst="0.01" />
    </default>
    <option timestep="0.01" integrator="RK4"/>
    <body>
        <geom name="floor" type="plane" conaffinity="1" size="5 5 5" rgba=".8 .9 .9 1" pos="0 0 0" user="0" />

        <body name="torso" pos="0 0 1.4">
            <inertial pos="0 0 0.0403624" mass="8.32208" diaginertia="0.159056 0.147471 0.0330627" />
            <joint name="root" type="free" islimited="false" pos="0 0 0" axis="0 0 1" mindist="0.01" armature="0" damping="0" />
            <geom name="torso1" type="capsule" size="0.07 0.07" pos="0 0 0" quat="0.707107 0.707107 0 0" user="0" />
            <geom name="head" type="sphere" size="0.09" pos="0 0 0.19" user="0" />
            <geom name="uwaist" type="capsule" size="0.06 0.06" pos="0 0 -0.12" quat="0.707107 0.707107 0 0" user="0" />
            <body name="pelvis" pos="0 0 -0.425" quat="0.999998 0 -0.002 0">
                <inertial pos="-0.0148387 0 0.0387097" quat="0.997805 0 0.0662273 0" mass="7.88854" diaginertia="0.0795697 0.0619562 0.0449816" />
                <joint name="abdomen_z" type="hinge" pos="0 0 0.22" axis="0 0 1" stiffness="20" range="-0.785398 0.785398" mindist="0.01" damping="3" />
                <joint name="abdomen_x" type="hinge" pos="0 0 0.22" axis="1 0 0" stiffness="10" range="-0.349066 0.349066" mindist="0.01" damping="3" />
                <joint name="abdomen_y" type="hinge" pos="0 0 0.22" axis="0 1 0" stiffness="10" range="-1.0472 0.523599" mindist="0.01" damping="3" />
                <geom name="lwaist" type="capsule" size="0.06 0.06" pos="0 0 0.15" quat="0.707107 0.707107 0 0" user="0" />
                <geom name="butt" type="capsule" size="0.09 0.07" pos="-0.02 0 0" quat="0.707107 0.707107 0 0" user="0" />
                <body name="right_thigh" pos="0 -0.1 -0.04">
                    <inertial pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" mass="5.37761" diaginertia="0.0792387 0.0792387 0.0113602" />
                    <joint name="right_hip1" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="10" range="-0.436332 0.0872665" mindist="0.01" />
                    <joint name="right_hip2" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="10" range="-1.0472 0.610865" mindist="0.01" />
                    <joint name="right_hip3" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="20" range="-1.91986 0.174533" mindist="0.01" />
                    <geom name="right_thigh1" type="capsule" size="0.065 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" user="0" />
                    <body name="right_shin" pos="0 0.01 -0.403">
                        <inertial pos="0 0 -0.181" mass="3.10016" diaginertia="0.045501 0.045501 0.00372174" />
                        <joint name="right_knee" type="hinge" pos="0 0 0.05" axis="0 -1 0" range="-2.79253 -0.0349066" mindist="0.01" />
                        <geom name="right_shin1" type="capsule" size="0.049 0.181" pos="0 0 -0.181" user="0" />
                        <body name="right_foot" pos="0 0 -0.45">
                            <inertial pos="0.035 -0.01 0" quat="0 0.707107 0 0.707107" mass="1.08992" diaginertia="0.00577723 0.00529682 0.000877682" />
                            <joint name="right_ankle_x" type="hinge" pos="0 0 0.06" axis="0.894427 0 0.447214" stiffness="1" range="-0.1 0.1" mindist="0.01" damping="0.3" />
                            <joint name="right_ankle_y" type="hinge" pos="0 0 0.06" axis="0 1 0" stiffness="4" range="-0.4 0.872665" mindist="0.01" damping="0.3" />
                            <geom name="right_foot_cap1" type="capsule" size="0.027 0.105475" pos="0.035 -0.03 0" quat="0.707107 -0.0670402 -0.703922 0" user="0" />
                            <geom name="right_foot_cap2" type="capsule" size="0.027 0.105475" pos="0.035 0.01 0" quat="0.707107 0.0670402 -0.703922 0" user="0" />
                        </body>
                    </body>
                </body>
                <body name="left_thigh" pos="0 0.1 -0.04">
                    <inertial pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" mass="5.37761" diaginertia="0.0792387 0.0792387 0.0113602" />
                    <joint name="left_hip1" type="hinge" pos="0 0 0" axis="-1 0 0" stiffness="10" range="-0.436332 0.0872665" mindist="0.01" />
                    <joint name="left_hip2" type="hinge" pos="0 0 0" axis="0 0 -1" stiffness="10" range="-1.0472 0.610865" mindist="0.01" />
                    <joint name="left_hip3" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="20" range="-1.91986 0.174533" mindist="0.01" />
                    <geom name="left_thigh1" type="capsule" size="0.065 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" user="0" />
                    <body name="left_shin" pos="0 -0.01 -0.403">
                        <inertial pos="0 0 -0.181" mass="3.10016" diaginertia="0.045501 0.045501 0.00372174" />
                        <joint name="left_knee" type="hinge" pos="0 0 0.05" axis="0 -1 0" range="-2.79253 -0.0349066" mindist="0.01" />
                        <geom name="left_shin1" type="capsule" size="0.049 0.181" pos="0 0 -0.181" user="0" />
                        <body name="left_foot" pos="0 0 -0.45">
                            <inertial pos="0.035 0.01 0" quat="0 0.707107 0 0.707107" mass="1.08992" diaginertia="0.00577723 0.00529682 0.000877682" />
                            <joint name="left_ankle_x" type="hinge" pos="0 0 0.06" axis="0.894427 0 0.447214" stiffness="1" range="-0.1 0.1" mindist="0.01" damping="0.3" />
                            <joint name="left_ankle_y" type="hinge" pos="0 0 0.06" axis="0 1 0" stiffness="4" range="-0.4 0.872665" mindist="0.01" damping="0.3" />
                            <geom name="left_foot_cap1" type="capsule" size="0.027 0.105475" pos="0.035 0.03 0" quat="0.707107 0.0670402 -0.703922 0" user="0" />
                            <geom name="left_foot_cap2" type="capsule" size="0.027 0.105475" pos="0.035 -0.01 0" quat="0.707107 -0.0670402 -0.703922 0" user="0" />
                        </body>
                    </body>
                </body>
            </body>
            <body name="right_upper_arm" pos="0 -0.17 0.06">
                <inertial pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" mass="1.59406" diaginertia="0.0139972 0.0139972 0.00127525" />
                <joint name="right_shoulder1" type="hinge" pos="0 0 0" axis="0 -0.707107 0.707107" stiffness="1" range="-1.0472 0.785398" mindist="0.01" />
                <joint name="right_shoulder2" type="hinge" pos="0 0 0" axis="0.816497 0.408248 0.408248" stiffness="1" range="-0.785398 0.785398" mindist="0.01" />
                <geom name="right_uarm1" type="capsule" size="0.04 0.138564" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" user="0" />
                <body name="right_lower_arm" pos="0.18 -0.18 -0.18">
                    <inertial pos="0.095 0.095 0.095" quat="0.459701 0.627963 -0.627963 0" mass="0.877969" diaginertia="0.00639835 0.00639835 0.000421864" />
                    <joint name="right_elbow" type="hinge" pos="0 0 0" axis="0 -0.707107 0.707107" range="-1.5708 0.872665" mindist="0.01" />
                    <geom name="right_larm" type="capsule" size="0.031 0.129904" pos="0.095 0.095 0.095" quat="0.459701 0.627963 -0.627963 0" user="0" />
                </body>
            </body>
            <body name="left_upper_arm" pos="0 0.17 0.06">
                <inertial pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" mass="1.59406" diaginertia="0.0139972 0.0139972 0.00127525" />
                <joint name="left_shoulder1" type="hinge" pos="0 0 0" axis="0 0.707107 0.707107" stiffness="1" range="-1.0472 0.785398" mindist="0.01" />
                <joint name="left_shoulder2" type="hinge" pos="0 0 0" axis="0.816497 -0.408248 0.408248" stiffness="1" range="-0.785398 0.785398" mindist="0.01" />
                <geom name="left_uarm1" type="capsule" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" user="0" />
                <body name="left_lower_arm" pos="0.18 0.18 -0.18">
                    <inertial pos="0.095 -0.095 0.095" quat="0.459701 -0.627963 -0.627963 0" mass="0.877969" diaginertia="0.00639835 0.00639835 0.000421864" />
                    <joint name="left_elbow" type="hinge" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.5708 0.872665" mindist="0.01" />
                    <geom name="left_larm" type="capsule" size="0.031 0.129904" pos="0.095 -0.095 0.095" quat="0.459701 -0.627963 -0.627963 0" user="0" />
                </body>
            </body>
        </body>
    </body>
    <actuator>
        <motor joint='abdomen_y'        ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='abdomen_z'        ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='abdomen_x'        ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='right_hip1'       ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='right_hip2'       ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='right_hip3'       ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='right_knee'       ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='right_ankle_x'    ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='right_ankle_y'    ctrlrange="-50.0 50.0" isctrllimited="true"/>
        <motor joint='left_hip1'        ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='left_hip2'        ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='left_hip3'        ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='left_knee'        ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='left_ankle_x'     ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='left_ankle_y'     ctrlrange="-50.0 50.0" isctrllimited="true"/>
        <motor joint='right_shoulder1'  ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='right_shoulder2'  ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='right_elbow'      ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='left_shoulder1'   ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='left_shoulder2'   ctrlrange="-100.0 100.0" isctrllimited="true"/>
        <motor joint='left_elbow'       ctrlrange="-100.0 100.0" isctrllimited="true"/>
     </actuator>
</mujoco>
