<mujoco model='humanoid'>
  <compiler inertiafromgeom='true' angle='degree' />
  <custom>
    <numeric name="frame_skip" data="4" />
  </custom>
  <default>
    <joint limited='true' damping='1' armature='1' />
    <geom contype='1' conaffinity='1' condim='1' rgba='0.8 0.6 .4 1' margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom" />
    <motor ctrlrange='-.4 .4' ctrllimited='true' />
  </default>
  <option timestep='0.002' integrator="RK4" iterations="50" solver="PGS" apirate="20">
    <flag solverstat="enable" energy="enable" />
  </option>
  <size nuser_geom='1' nkey='2' />
  <visual>
    <map fogstart="3" fogend="5" />
  </visual>
  <asset>
    <texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0 0 0" />
    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01" />
    <texture name="texplane" type="2d" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100" />
    <material name='MatPlane' texture="texplane" shininess="1" texrepeat="60 60" specular="1"  reflectance="0.5" />
    <material name='geom' texture="texgeom" texuniform="true" />
  </asset>
  <worldbody>
    <light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" />
    <geom name='floor' material="MatPlane" pos='0 0 0' size='40 40 40' type='plane' conaffinity='1' rgba='0.8 0.9 0.8 1' condim='3' />
    <body name='torso' pos='0 0 1.8'>
      <!-- <joint name='root' type='free' pos='0 0 0' limited='false' damping='0' armature='0' stiffness='0' /> -->
      <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' user='258' />
      <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='-10 10' damping='5' stiffness='20' armature='0.8' />
        <joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-10 10' damping='5' stiffness='10' armature='0.8' />
        <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='-10 10' damping='5' stiffness='10' armature='1' />
          <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_z' type='hinge' pos='0 0 0' axis='1 0 0' range='-40 50' damping='5' stiffness='10' armature='0.6' />
            <joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 0.34 0.93' range='-30 30' damping='5' stiffness='20' armature='0.6' />
            <joint name='right_hip_x' type='hinge' pos='0 0 0' axis='0 0.93 -0.34' range='-100 20' damping='5' stiffness='10' armature='0.6' />

            <geom name='right_thigh1' type='capsule' fromto='0 0 0 0 -0.1156 -0.3162' size='0.06' />
            <body name='right_shin' pos='0 -0.125 -0.33'>
              <joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 0.93 -0.34' range='2 130' armature='0.24' />
              <geom name='right_shin1' type='capsule' fromto='0 0 0 0 -0.102 -.279' size='0.049' />
              <body name='right_foot' pos='0 -0.135 -0.35'>
                <joint name='right_ankle_z' type='hinge' pos='0 0 0.08' axis='0 -0.34 -0.93' range='-10 35' stiffness='4' armature='0.32' />
                <joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='0 0.93 -0.34' range='-22 45' stiffness='1' armature='0.24' />
                <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_z' type='hinge' pos='0 0 0' axis='1 0 0' range='-40 50' damping='5' stiffness='10' armature='0.4' />
            <joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 -0.34 0.93' range='-30 30' damping='5' stiffness='10' armature='0.4' />
            <joint name='left_hip_x' type='hinge' pos='0 0 0' axis='0 0.93 0.34' range='-100 20' damping='5' stiffness='20' armature='0.4' />
            <geom name='left_thigh1' type='capsule' fromto='0 0 0 0 0.1156 -0.3162' size='0.06' />
            <body name='left_shin' pos='0 0.125 -0.33'>
              <joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 0.93 0.34' range='2 130' stiffness='1' armature='0.24' />
              <geom name='left_shin1' type='capsule' fromto='0 0 0 0 0.102 -.279' size='0.049' />
              <body name='left_foot' pos='0 0.135 -0.35'>
                <joint name='left_ankle_z' type='hinge' pos='0 0 0.08' axis='0 0.34 -0.93' range='-35 10' stiffness='4' armature='0.32' />
                <joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='0 0.93 0.34' range='-22 45' stiffness='1' armature='0.24' />
                <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_shoulder_z' type='hinge' pos='0 0 0' axis='-0.8 0 -0.5' range='-90 60' stiffness='1' armature='0.6' />      
        <joint name='right_shoulder_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-60 60' stiffness='1' armature='0.6' />
        <joint name='right_shoulder_x' type='hinge' pos='0 0 0' axis='-0.5 0 0.8' range='-70 40' stiffness='1' armature='0.8' /> 
        

        <geom name='right_uarm1' type='capsule' fromto='0 0 0 0 -.27 0' size='0.04 0.16' />
        <body name='right_lower_arm' pos='0 -.29 0'>
          <joint name='right_elbow' type='hinge' pos='0 0 0' axis='-0.5 0 0.86' range='0 100' stiffness='0' armature='0.12' />
          <geom name='right_larm' type='capsule' fromto='0 0.01 0 0 -0.294 0' size='0.031' />
          <geom name='right_hand' type='sphere' pos='0 -0.304 0' size='0.04' />
          <camera pos="0 0 0" />
        </body>
      </body>
      <body name='left_upper_arm' pos='0 0.17 0.06'>

        <joint name='left_shoulder_z' type='hinge' pos='0 0 0' axis='-0.8  0 -0.5' range='-60 90' stiffness='1' armature='0.6' />
        <joint name='left_shoulder_y' type='hinge' pos='0 0 0' axis='0 -1 0 ' range='-60 60' stiffness='1' armature='0.6' />
        <joint name='left_shoulder_x' type='hinge' pos='0 0 0' axis='0.5 0 -0.8' range='-70 40' stiffness='1' armature='0.8' />
         
        <geom name='left_uarm1' type='capsule' fromto='0 0 0 0 .27 0' size='0.04 0.16' />
        <body name='left_lower_arm' pos='0 .29 0'>
          <joint name='left_elbow' type='hinge' pos='0 0 0' axis='0.5 0 -0.86' range='0 100' stiffness='0' armature='0.12' />
          <geom name='left_larm' type='capsule' fromto='0 0.01 0 0 0.294 0' size='0.031' />
          <geom name='left_hand' type='sphere' pos='0 0.304 0' size='0.04' />
          <camera pos="0 0 0" />
        </body>

      </body>
    </body>
  </worldbody>
  <tendon>
    <fixed name='left_hipknee'>
      <joint joint='left_hip_y' coef='-1' />
      <joint joint='left_knee' coef='1' />
    </fixed>
    <fixed name='right_hipknee'>
      <joint joint='right_hip_y' coef='-1' />
      <joint joint='right_knee' coef='1' />
    </fixed>
  </tendon>
 <!--  <keyframe>
    <key qpos='-0.0233227 0.00247283 0.0784829 0.728141 0.00223397 -0.685422 -0.00181805 -0.000580139 -0.245119 0.0329713 -0.0461148 0.0354257 0.252234 -0.0347763 -0.4663 -0.0313013 0.0285638 0.0147285 0.264063 -0.0346441 -0.559198 0.021724 -0.0333332 -0.718563 0.872778 0.000260393 0.733088 0.872748' />
    <key qpos='0.0168601 -0.00192002 0.127167 0.762693 0.00191588 0.646754 -0.00210291 -0.000199049 0.0573113 -4.05731e-005 0.0134177 -0.00468944 0.0985945 -0.282695 -0.0469067 0.00874203 0.0263262 -0.00295056 0.0984851 -0.282098 -0.044293 0.00475795 0.127371 -0.42895 0.882402 -0.0980573 0.428506 0.88193' />
    <key qpos='0.000471586 0.0317577 0.210587 0.758805 -0.583984 0.254155 0.136322 -0.0811633 0.0870309 -0.0935227 0.0904958 -0.0278004 -0.00978614 -0.359193 0.139761 -0.240168 0.060149 0.237062 -0.00622109 -0.252598 -0.00376874 -0.160597 0.25253 -0.278634 0.834376 -0.990444 -0.169065 0.652876' />
    <key qpos='-0.0602175 0.048078 0.194579 -0.377418 -0.119412 -0.675073 -0.622553 0.139093 0.0710746 -0.0506027 0.0863461 0.196165 -0.0276685 -0.521954 -0.267784 0.179051 0.0371897 0.0560134 -0.032595 -0.0480022 0.0357436 0.108502 0.963806 0.157805 0.873092 -1.01145 -0.796409 0.24736' />
  </keyframe> -->
  <!-- <keyframe>
    <key qpos=' 0.09625816 -0.78859199  1.01126844  0.84804082  0.51415685
    -0.05513301 0.11588723  0.22389235  0.31955742 -0.59864492  0.54277726  0.06720192 0.29375958  0.20688923  0.03635865 -0.27951822  0.14636601 -0.06866802 -0.49370297  0.41969977  0.27991385 -0.22006313 -1.40829135 0.24104596 -0.1661085   0.8193666   1.11275057  0.55966961 -0.87384416  0.32109327' /> 
  </keyframe>-->
  <actuator>
    <motor name='abdomen_y' gear='200' joint='abdomen_y' />
    <motor name='abdomen_z' gear='200' joint='abdomen_z' />
    <motor name='abdomen_x' gear='200' joint='abdomen_x' />
    <motor name='right_hip_z' gear='200' joint='right_hip_z' />
    <motor name='right_hip_y' gear='600' joint='right_hip_y' />
    <motor name='right_hip_x' gear='200' joint='right_hip_x' />
    <motor name='right_knee' gear='400' joint='right_knee' />
    <motor name='right_ankle_z' gear='100' joint='right_ankle_z' />
    <motor name='right_ankle_x' gear='100' joint='right_ankle_x' />
    <motor name='left_hip_z' gear='200' joint='left_hip_z' />
    <motor name='left_hip_y' gear='600' joint='left_hip_y' />
    <motor name='left_hip_x' gear='200' joint='left_hip_x' />
    <motor name='left_knee' gear='400' joint='left_knee' />
    <motor name='left_ankle_z' gear='100' joint='left_ankle_z' />
    <motor name='left_ankle_x' gear='100' joint='left_ankle_x' />
    <motor name='right_shoulder_z' gear='100' joint='right_shoulder_z' />
    <motor name='right_shoulder_y' gear='100' joint='right_shoulder_y' />
    <motor name='right_shoulder_x' gear='100' joint='right_shoulder_x' />
    <motor name='right_elbow' gear='200' joint='right_elbow' />
    <motor name='left_shoulder_z' gear='100' joint='left_shoulder_z' />
    <motor name='left_shoulder_y' gear='100' joint='left_shoulder_y' />
    <motor name='left_shoulder_x' gear='100' joint='left_shoulder_x' />
    <motor name='left_elbow' gear='200' joint='left_elbow' />
  </actuator>
</mujoco>
