<mujoco model="dyros_jet_robot">
    <compiler angle="radian" meshdir="../meshes/"/>
    <size njmax="500" nconmax="100" />
	<?option gravity= "0 0 0"/?>
	<default>
    <?joint damping="200" frictionloss="6"/?>
	<geom rgba = ".7 .7 .7 1"/>
	<default class="viz">
			<geom contype="0" conaffinity="0" group="1" type="mesh" rgba=".6 .6 .7 1"/>
	</default>
	
	<default class="position">
			<position ctrllimited="true" forcelimited="false" ></position> 

	</default>

	<default class="velocity">
			<velocity ctrllimited="false" forcelimited="false" ></velocity> 

	</default>

	<default class="FTsensor">
        	    <site type="cylinder" size="0.005 0.005" group="4" rgba=".1 .1 .9 1"/>
	</default>

	</default>

    <default>
        <default class="object1">
                 <geom type="box" size=".1 .1 0.01" rgba="1 .4 .4 1"  />
        </default>

        <default class="object3">
                 <geom type="box" size=".05 .07 0.007" rgba="1 .4 .4 1"  />
        </default>

        <default class="object4">
                 <geom type="box" size=".05 .07 0.007" rgba="1 .4 .4 1"  />
        </default>

        <default class="object2">
                 <geom type="box" size=".07 .07 .07" rgba="1 .4 .4 1" />
        </default>

        <default class="object5">
                 <geom type="box" size="1 1 .05" rgba=".1 .1 .1 1" />
        </default>
    </default>

	
        <option  timestep='0.0006' iterations="100" tolerance="1e-11" solver="Newton" jacobian="dense" cone="elliptic" noslip_iterations="75" noslip_tolerance="1e-9"/>
	
    <asset>
        <mesh name="base_link" file="base_link.stl" />
        <mesh name="left_shin" file="left_shin.stl" />
        <mesh name="left_ankle_pitch" file="left_ankle_pitch.stl" />
        <mesh name="hip_yaw" file="hip_yaw.stl" />
        <mesh name="hip_roll" file="hip_roll.stl" />
        <mesh name="hip_pitch" file="hip_pitch.stl" />
        <mesh name="right_shin" file="right_shin.stl" />
        <mesh name="right_ankle_pitch" file="right_ankle_pitch.stl" />
        <mesh name="ankle_roll" file="ankle_roll.stl" />
        <mesh name="WaistPitch_Link" file="WaistPitch_Link.stl" />
        <mesh name="WaistYaw_Link" file="WaistYaw_Link.stl" />
        <mesh name="L_ShoulderPitch_Link" file="L_ShoulderPitch_Link.stl" />
        <mesh name="L_ShoulderRoll_Link" file="L_ShoulderRoll_Link.stl" />
        <mesh name="L_ShoulderYaw_Link" file="L_ShoulderYaw_Link.stl" />
        <mesh name="L_ElbowRoll_Link" file="L_ElbowRoll_Link.stl" />
        <mesh name="L_WristYaw_Link" file="L_WristYaw_Link.stl" />
        <mesh name="L_WristRoll_Link" file="L_WristRoll_Link.stl" />
        <mesh name="L_HandYaw_Link" file="L_HandYaw_Link.stl" />
        <mesh name="R_ShoulderPitch_Link" file="R_ShoulderPitch_Link.stl" />
        <mesh name="R_ShoulderRoll_Link" file="R_ShoulderRoll_Link.stl" />
        <mesh name="R_ShoulderYaw_Link" file="R_ShoulderYaw_Link.stl" />
        <mesh name="R_ElbowRoll_Link" file="R_ElbowRoll_Link.stl" />
        <mesh name="R_WristYaw_Link" file="R_WristYaw_Link.stl" />
        <mesh name="R_WristRoll_Link" file="R_WristRoll_Link.stl" />
        <mesh name="R_HandYaw_new" file="R_HandYaw_new.stl" />
        <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"/>
        <material name='object1' texture="texgeom" texuniform="true" rgba=".5 .1 .1 1" />
        <material name='object2' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
        <material name='object3' texture="texgeom" texuniform="true" rgba=".5 .1 .1 1" />
        <material name='object4' texture="texgeom" texuniform="true" rgba=".5 .1 .1 1" />
        <material name='object5' texture="texgeom" texuniform="true" rgba=".5 .1 .1 1" />
	<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" 
            width="512" height="512"/>
	<texture name="groundplane" type="2d" builtin="checker" rgb1=".325 .326 .325" 
			rgb2=".22 .22 .22" width="100" height="100" mark="none" markrgb=".8 .8 .8"/>
		<material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"/>
		<material name="MatGnd" texture="groundplane"  texrepeat="20 20" specular="1" shininess=".3" reflectance="0.00001"/>
    </asset>
    <worldbody>
	<geom name='floor' pos='0 0 0' size='5 5 .125' type='plane' material="MatPlane" condim = "3" contype = "0"/>	
	<light directional="true" cutoff="60" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="1 1 1.5" dir="-1 -1 -1.3"/>
	
	
        <body name="base_link" pos="0 0 0.08027">
			<joint type="free" limited='false' damping="0" stiffness="0" armature="0"/>
            <inertial pos="0 0 0.08027" quat="0.707107 0.707107 0 0" mass="3.90994" diaginertia="0.027242 0.0239919 0.00634116" />
            <geom name = "Base" type="box" size="0.04 0.14 0.06" pos="0 0 0.085"/>
			<geom name = "base_link" class="viz" mesh="base_link" />
			<site name="Pelvis_IMU" type="cylinder" size="0.005 0.005" group="4" rgba=".1 .1 .9 1"/>
            <body name="L_HipYaw_Link" pos="0 0.105 -0.1119">
                <inertial pos="-0.02955 0 0.06943" quat="0.676521 -0.205718 -0.205718 0.676521" mass="1.54216" diaginertia="0.00664372 0.00472109 0.00278374" />
                <joint name="L_HipYaw" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="100"/> ?100?
                <geom name = "L_HipYaw" type="box" size="0.071 0.031 0.08" pos="0 0 0.05" />
				<geom name = "L_HipYaw_Link" class="viz" mesh="hip_yaw" />
                <body name="L_HipRoll_Link" pos="0 0 0">
                    <inertial pos="0.00513 -0.00119 0" quat="0.497367 0.502619 -0.497367 0.502619" mass="1.16907" diaginertia="0.00199196 0.00180688 0.000879624" />
                    <joint name="L_HipRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14 3.14" damping = "115"/> ?115?
                    <geom name="L_HipRoll_Link" class="viz" mesh="hip_roll" />
                    <body name="L_HipPitch_Link" pos="0 0 0">
                        <inertial pos="0.12203 0.00306 -0.23316" quat="0.950942 -0.0241305 0.218858 -0.21732" mass="3.28269" diaginertia="0.0478721 0.0423822 0.0109838" />
                        <joint name="L_HipPitch" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14" damping="100"/> ?100?
						<geom name = "L_HipPitch1"  type="box" size="0.04 0.06 0.15" pos="0.15 0 -0.22"/>
						<geom name = "L_HipPitch2" type="box" size="0.04 0.06 0.07" pos="0.075 0 -0.14"/>
                        <geom name="L_HipPitch_Link" class="viz" mesh="hip_pitch" />
                         <body name="L_KneePitch_Link" pos="0.1515 0 -0.339">
                            <inertial pos="0.05276 -0.01856 -0.22635" quat="0.96774 0.110027 0.0714849 -0.215087" mass="2.04524" diaginertia="0.03639 0.0322497 0.00477484" />
                            <joint name="L_KneePitch" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14" damping = "110" /> ?110?
							<geom name = "L_KneePitch" type="box" size="0.04 0.06 0.15 " pos=" 0.05 -0.005 -0.22" quat="0 0 0 -0.215087"/>
					<geom name="L_KneePitch_Link" class="viz" mesh="left_shin" />
                                
                             <body name="L_AnklePitch_Link" pos="0.06 0 -0.368">
                                <inertial pos="-0.01035 0.00568 0" quat="0.0259795 0.706629 -0.0259795 0.706629" mass="1.1845" diaginertia="0.00206163 0.00185663 0.000905687" />
                                <joint name="L_AnklePitch" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14" damping="100"/> ?100?
                                <geom name="L_AnklePitch_Link" class="viz" mesh="left_ankle_pitch" />
                                <body name="L_AnkleRoll_Link" pos="0 0 0">
                                    <inertial pos="-0.00989 0 0.07224" quat="0 0.650639 0 0.759387" mass="1.42541" diaginertia="0.00909009 0.00816768 0.0033577" />
                                    <joint name="L_AnkleRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14 3.14" damping="100"/> ?100?
									<geom name="L_AnkleRoll" type="box" size="0.15 0.085 0.01" friction="1.0 0.005 0.0001" pos="0.01 0 -0.095"/>
                                    <geom name="L_AnkleRoll_Link" class="viz" mesh="ankle_roll" />
		     		    <site class="FTsensor" name="L_FT" pos="0 0 0"/>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
             <body name="R_HipYaw_Link" pos="0 -0.105 -0.1119">
                <inertial pos="-0.02955 0 0.06943" quat="0.676521 -0.205718 -0.205718 0.676521" mass="1.54216" diaginertia="0.00664372 0.00472109 0.00278374" />
                <joint name="R_HipYaw" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="100"/> ?100?
                <geom name="R_HipYaw" type="box" size="0.071 0.031 0.08" pos="0.0 0 0.05" />
				<geom name="R_HipYaw_Link" class="viz" mesh="hip_yaw" />
                <body name="R_HipRoll_Link" pos="0 0 0">
                    <inertial pos="0.00513 0.00119 0" quat="0.502619 0.497367 -0.502619 0.497367" mass="1.16907" diaginertia="0.00199196 0.00180688 0.000879624" />
                    <joint name="R_HipRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14 3.14" damping = "115"/> ?115?
                    <geom name="R_HipRoll_Link" class="viz" mesh="hip_roll" />
                    <body name="R_HipPitch_Link" pos="0 0 0">
                        <inertial pos="0.11203 -0.00306 -0.23316" quat="0.950944 0.0241325 0.218858 0.217311" mass="3.28269" diaginertia="0.047872 0.0423822 0.0109839" />
                        <joint name="R_HipPitch" pos="0 0 0" axis="0 -1 0" limited="true" range="-3.14 3.14" damping="100"/> ?100?
						<geom name="R_HipPitch1" type="box" size="0.04 0.06 0.15" pos="0.15 0 -0.22"/>
						<geom name="R_HipPitch2" type="box" size="0.04 0.06 0.07" pos="0.075 0 -0.14"/>
                        <geom name="R_HipPitch_Link" class="viz" mesh="hip_pitch" />
                         <body name="R_KneePitch_Link" pos="0.1515 0 -0.339">
                            <inertial pos="0.05276 0.01856 -0.22635" quat="0.96797 -0.109968 0.0713641 0.214123" mass="2.04524" diaginertia="0.0364097 0.0322608 0.00479686" />
                            <joint name="R_KneePitch" pos="0 0 0" axis="0 -1 0" limited="true" range="-3.14 3.14" damping = "110"/> ?110?
							<geom name="R_KneePitch" type="box" size="0.04 0.06 0.15 " pos=" 0.05 0.01 -0.22" quat="0 0 0.2588 0"/>
                            <geom name="R_KneePitch_Link" class="viz" mesh="right_shin" />
                            <body name="R_AnklePitch_Link" pos="0.06 0 -0.368">
                                <inertial pos="-0.01035 0.00568 0" quat="-0.0259621 0.70663 0.0259621 0.70663" mass="1.1845" diaginertia="0.00206165 0.0018566 0.000905652" />
                                <joint name="R_AnklePitch" pos="0 0 0" axis="0 -1 0" limited="true" range="-3.14 3.14" damping="100" /> ?100?
                                <geom name="R_AnklePitch_Link" class="viz" mesh="right_ankle_pitch" />
                                 <body name="R_AnkleRoll_Link" pos="0 0 0">
                                    <inertial pos="-0.00989 0 0.07224" quat="0 0.648332 0 0.761358" mass="1.42541" diaginertia="0.00909009 0.00816768 0.0033577" />
                                    <joint name="R_AnkleRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14 3.14" damping="100" /> ?100?
									<geom name="R_AnkleRoll" type="box" size="0.15 0.085 0.01" friction="1.0 0.005 0.0001" pos="0.01 0 -0.095"/>
                                    <geom name="R_AnkleRoll_Link" class="viz" mesh="ankle_roll" />
				    <site class="FTsensor" name="R_FT" pos="0 0 0"/>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="WaistPitch_Link" pos="0 0 0">
                <inertial pos="0 0 0.14577" quat="0.707107 0 0 0.707107" mass="0.18235" diaginertia="0.004215 0.003844 0.000457" />
                <joint name="WaistPitch" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="200"/>
                <geom name="WaistPitch_Link" class="viz" mesh="WaistPitch_Link" />
                <body name="WaistYaw_Link" pos="0 0 0.186">
                    <inertial pos="0.0038 -0.00415 0.11424" mass="14.0994" diaginertia="0.262766 0.242504 0.109346" />
                    <joint name="WaistYaw" pos="0 0 0" axis="-1 0 0" limited="true" range="-3.14 3.14" damping="200"/>
					<geom name="WaistYaw" size="0.045 0.1325 0.1125" pos="0 0 0.11" type="box" rgba="0.59216 0.61961 0.65098 1" />
                    <geom  name="WaistYaw_Link" class="viz" mesh="WaistYaw_Link" />
					
                    <body name="L_ShoulderPitch_Link" pos="0 0.17 0.239" quat="0.965926 0.25882 0 0">
                        <inertial pos="-0.00159 -0.00092 0" quat="0 0.707107 0 0.707107" mass="0.92796" diaginertia="0.00156 0.0015422 0.000473" />
                        <joint name="L_ShoulderPitch" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14" damping="200"/>
                        <geom name="L_ShoulderPitch_Link" class="viz" mesh="L_ShoulderPitch_Link" />
                         <body name="L_ShoulderRoll_Link" pos="0 0 0">
                            <inertial pos="0 0.02958 -0.03197" quat="0.629924 0.321242 -0.321242 0.629924" mass="0.1124" diaginertia="0.00212121 0.001421 0.00130279" />
                            <joint name="L_ShoulderRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-2.1 -0.2" damping="200"/>
                            <geom name="L_ShoulderRoll_Link" class="viz" mesh="L_ShoulderRoll_Link" />
                           
                            <body name="L_ShoulderYaw_Link" pos="0 0 0.028856">
                                <inertial pos="0.00022 0.0291 -0.20695" quat="0.500672 0.499327 -0.500672 0.499327" mass="1.75149" diaginertia="0.090836 0.0904196 0.00125935" />
                                <joint name="L_ShoulderYaw" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14" damping="200"/>
								<geom name="L_ShoulderYaw" type="box" size="0.03 0.03 0.1" pos="0 0.17 0" quat="0.70711 0.70711 0 0"/>
								
                                <geom name="L_ShoulderYaw_Link" class="viz" mesh="L_ShoulderYaw_Link" />
                               <body name="L_ElbowRoll_Link" pos="0 0.294 0">
                                    <inertial pos="0.00013 0.02766 0.06984" quat="0.978431 0.206326 0.00269168 -0.00972432" mass="0.83342" diaginertia="0.00592013 0.00562339 0.00105148" />
                                    <joint name="L_ElbowRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-2.8 0.3" damping="200"/>
									<geom name="L_ElbowRoll" type="box" size="0.03 0.015 0.05" pos="0 0.015 0.003" quat="0.70711 0 0.70711 0"/>
                                    <geom name="L_ElbowRoll_Link" class="viz" mesh="L_ElbowRoll_Link" />
                                    <body name="L_WristYaw_Link" pos="0 0 0.075">
                                        <inertial pos="-0.00052833 0.21354 0" quat="0.500738 0.499261 -0.500738 0.499261" mass="0.52391" diaginertia="0.026765 0.0266882 0.00026877" />
                                        <joint name="L_WristYaw" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14" damping="200"/>
										<geom name="L_WristYaw" type="box" size="0.03 0.023 0.10" pos="0 0.16 0.002" quat="0.70711 0.70711 0 0"/>
                                        <geom name="L_WristYaw_Link" class="viz" mesh="L_WristYaw_Link" />
                                        <body name="L_WristRoll_Link" pos="-0.00015 0.3085 0">
                                            <inertial pos="0 0.029698 0" quat="0 0.707107 0 0.707107" mass="0.07856" diaginertia="0.000153 9.0005e-05 8.3e-05" />
                                            <joint name="L_WristRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-3.14 3.14" damping="200"/>
                                            <geom name="L_WristRoll_Link" class="viz" mesh="L_WristRoll_Link" />
                                            <body name="L_HandYaw_Link" pos="0 0 0">
                                                <inertial pos="0 0.20231 0.0031654" quat="0.503933 0.496036 -0.496036 0.503933" mass="0.008064" diaginertia="0.0557793 0.05396 0.00258773" />
                                                <joint name="L_HandYaw" pos="0 0 0" axis="0 1 0" limited="true" range="-3.14 3.14" damping="200"/>
                                                <geom name="L_HandYaw_Link" class="viz" mesh="L_HandYaw_Link" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                    <body name="R_ShoulderPitch_Link" pos="0 -0.17 0.239" quat="0.965926 -0.25882 0 0">
                        <inertial pos="-0.00159 0.00092 0" quat="0 0.707107 0 0.707107" mass="0.92796" diaginertia="0.00156 0.0015422 0.000473" />
                        <joint name="R_ShoulderPitch" pos="0 0 0" axis="0 -1 0" limited="true" range="-3.14 3.14" damping="200"/>
                        <geom name="R_ShoulderPitch_Link" class="viz" mesh="R_ShoulderPitch_Link" />
                        <body name="R_ShoulderRoll_Link" pos="0 0 0">
                            <inertial pos="0 -0.02958 -0.03197" quat="0.321242 0.629924 -0.629924 0.321242" mass="0.1124" diaginertia="0.00212121 0.001421 0.00130279" />
                            <joint name="R_ShoulderRoll" pos="0 0 0" axis="1 0 0" limited="true" range="0.2 2.1" damping="200"/>
                            <geom name="R_ShoulderRoll_Link"  type="mesh" mesh="R_ShoulderRoll_Link" />

                            <body name="R_ShoulderYaw_Link" pos="0 0 0.028856">
                                <inertial pos="0.00022 -0.291 -0.20695" quat="0.499327 0.500672 -0.499327 0.500672" mass="1.75149" diaginertia="0.090836 0.0904196 0.00125935" />
                                <joint name="R_ShoulderYaw" pos="0 0 0" axis="0 -1 0" limited="true" range="-3.14 3.14" damping="200"/>
								<geom name="R_ShoulderYaw" type="box" size="0.03 0.03 0.1" pos="0 -0.16 0" quat="0.70711 0.70711 0 0"/>
								
                                <geom name="R_ShoulderYaw_Link" class="viz" mesh="R_ShoulderYaw_Link" />
                                <body name="R_ElbowRoll_Link" pos="0 -0.294 0">
                                    <inertial pos="0.00013 -0.02766 0.06984" quat="0.978431 -0.206326 0.00269168 0.00972432" mass="0.83342" diaginertia="0.00592013 0.00562339 0.00105148" />
                                    <joint name="R_ElbowRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-0.3 2.8" damping="200"/>
									<geom name="R_ElbowRoll" type="box" size="0.03 0.03 0.05" pos="0 -0.005 0" quat="0.70711 0 0.70711 0"/>
                                    <geom name="R_ElbowRoll_Link" class="viz" mesh="R_ElbowRoll_Link" />
                                    <body name="R_WristYaw_Link" pos="0 0 0.075">
                                        <inertial pos="-0.00052833 -0.21354 0" quat="0.499261 0.500738 -0.499261 0.500738" mass="0.52391" diaginertia="0.026765 0.0266882 0.00026877" />
                                        <joint name="R_WristYaw" pos="0 0 0" axis="0 -1 0" limited="true" range="-3.14 3.14" damping="200"/>
										<geom name="R_WristYaw" type="box" size="0.03 0.020 0.12" pos="0 -0.16 .003" quat="0.70711 0.70711 0 0"/>
                                        <geom name="R_WristYaw_Link"  class="viz" mesh="R_WristYaw_Link" />
                                        <body name="R_WristRoll_Link" pos="-0.00015 -0.3085 0">
                                            <inertial pos="0 -0.029698 0" quat="0 0.707107 0 0.707107" mass="0.07856" diaginertia="0.000153 9e-05 8.3e-05" />
                                            <joint name="R_WristRoll" pos="0 0 0" axis="1 0 0" limited="true" range="-1.9 1.9" damping="200"/>>
                                            <geom name="R_WristRoll" class="viz" mesh="R_WristRoll_Link" />
                                           <body name="R_HandYaw_Link" pos="0 0 0">
                                                <inertial pos="0 -0.20231 0.0031654" quat="0.503933 0.496036 -0.496036 0.503933" mass="0.008064" diaginertia="0.0557793 0.05396 0.00258773" />
                                                <joint name="R_HandYaw" pos="0 0 0" axis="0 -1 0" limited="true" range="-3.14 3.14" damping="200"/>
                                                <geom name="R_HandYaw"  class="viz" mesh="R_HandYaw_new" />
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>

        <body pos="0 0 0" quat="1 0 0 0">
            <freejoint/>
            <geom class="object1" pos="-0.3 0.4 0" quat="1 0 0 0" mass="0.5"/>
        </body>

        <body pos="0 0 0" quat="1 0 0 0">
            <freejoint/>
            <geom class="object3" pos="0.44 -0.2 0" quat="1 0 0 0" mass="0.5"/>
        </body>

        <body pos="0 0 0" quat="1 0 0 0"> 
            <freejoint/>
            <geom class="object4" pos="+0.8 0.15 0" quat="1 0 0 0" mass="0.5"/>
        </body>

        <body>            
            <geom class="object2" pos="0 -0.4 1.25" quat="1 0 0 0"/> 
            <joint type="slide" pos="1 0 1" axis="0 1 0" springdamper="0.15 0.4"/>
        </body>

        <body pos="0 0 0" quat="1 0 0 0">
            <geom class="object5" pos="2 0 0" quat="1 0 -0.026 0"/>
        </body>
        


    </worldbody>
	<actuator>		
		<position class="position" ctrllimited="true" ctrlrange="-5 5"  name="L_HipYaw" joint="L_HipYaw" kp = "3500"/> ?3500?
                <position class="position" ctrllimited="false"  name="L_HipRoll" joint="L_HipRoll" kp = "2000"/> ?2000?
		<position class="position" ctrllimited="true" ctrlrange="-5 5"  name="L_HipPitch" joint="L_HipPitch" kp = "3500"/> ?3500?
	        <position class="position" ctrllimited="false"   name="L_KneePitch" joint="L_KneePitch" kp = "3500"/> ?3500?
		<position class="position" ctrllimited="true" ctrlrange="-5 5"  name="L_AnklePitch" joint="L_AnklePitch" kp = "3500"/> ?3500?
                <position class="position" ctrllimited="true" ctrlrange="-5 5"  name="L_AnkleRoll" joint="L_AnkleRoll" kp = "2000"/> ?2000?
					
		<position class="position" ctrllimited="true" ctrlrange="-5 5"  name="R_HipYaw" joint="R_HipYaw" kp = "3500"/>
                <position class="position" ctrllimited="false"   name="R_HipRoll" joint="R_HipRoll" kp = "2000"/>
		<position class="position" ctrllimited="true" ctrlrange="-5 5"  name="R_HipPitch" joint="R_HipPitch" kp = "3500"/>
		<position class="position" ctrllimited="false"  name="R_KneePitch" joint="R_KneePitch" kp = "3500"/>
		<position class="position" ctrllimited="true" ctrlrange="-5 5"  name="R_AnklePitch" joint="R_AnklePitch" kp = "3500"/>
                <position class="position" ctrllimited="true" ctrlrange="-5 5"  name="R_AnkleRoll" joint="R_AnkleRoll" kp = "2000"/>

                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="WaistPitch" joint="WaistPitch" kp = "35000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="WaistYaw" joint="WaistYaw" kp = "35000"/>

                <position class="position" ctrllimited="true" ctrlrange="-3 3" name="L_ShoulderPitch" joint="L_ShoulderPitch" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="L_ShoulderRoll" joint="L_ShoulderRoll" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="L_ShoulderYaw" joint="L_ShoulderYaw" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="L_ElbowRoll" joint="L_ElbowRoll" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="L_WristYaw" joint="L_WristYaw" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="L_WristRoll" joint="L_WristRoll" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="L_HandYaw" joint="L_HandYaw" kp = "10000"/>

                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="R_ShoulderPitch" joint="R_ShoulderPitch" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="R_ShoulderRoll" joint="R_ShoulderRoll" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="R_ShoulderYaw" joint="R_ShoulderYaw" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="R_ElbowRoll" joint="R_ElbowRoll" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="R_WristYaw" joint="R_WristYaw" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="R_WristRoll" joint="R_WristRoll" kp = "10000"/>
                <position class="position" ctrllimited="true" ctrlrange="-3 3"  name="R_HandYaw" joint="R_HandYaw" kp = "10000"/>

	</actuator>

	<sensor>
		<force name="L_Force"	site="L_FT"/>
		<force name="R_Force"	site="R_FT"/>
		<torque name="L_Torque"	site="L_FT"/>
		<torque name="R_Torque"	site="R_FT"/>


	        <accelerometer name="Acc_Pelvis_IMU" site="Pelvis_IMU"/>
	        <gyro name="Gyro_Pelvis_IMU" site="Pelvis_IMU"/>
	        <magnetometer name="Magnet_Pelvis_IMU" site="Pelvis_IMU"/>

	        <framequat name="Pelvis_quat" objtype="site" objname="Pelvis_IMU"/>
	        <framelinvel name="Pelvis_linear_vel" objtype="site" objname="Pelvis_IMU"/>
		<frameangvel name="Pelvis_angular_vel" objtype="site" objname="Pelvis_IMU"/>

	</sensor>

	<keyframe>
		<key time="0" qpos ="0 0 0.90 1 0 0 0				 
				     0 0.034906585  -0.034906585 0.733038285 -0.6981317 -0.034906585
		   		     0 -0.034906585 0.034906585 -0.733038285 0.6981317 0.034906585 
				     0 0 
				     0.6981317008 -1.6580627893  -1.3962634016  -1.9198621771  0  -1.2217304764  -0.1745329252 
				     -0.6981317008  1.6580627893  1.3962634016  1.9198621771  0  1.2217304764  0.17453292519 
                     0.3 0.0 0.05 1 0 0 0
                     0.3 0.0 0.05 1 0 0 0
                     0.3 0.0 0.05 1 0 0 0 
                     0"/>
        </keyframe>
	

</mujoco>