<mujoco model='humanoid'>
    <compiler inertiafromgeom='true' angle='degree'/>

    <default>
        <joint limited='true' damping='1' armature='0' />
        <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' iterations="50" solver="PGS">
        <flag energy="enable"/>
    </option>

    <visual>
        <map fogstart="3" fogend="5" force="0.1"/>
        <quality shadowsize="2048"/>
    </visual>

    <asset>
        <texture type="skybox" builtin="gradient" width="100" height="100" rgb1=".4 .6 .8" 
            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=".2 .3 .4" rgb2=".1 0.15 0.2" 
            width="100" height="100"/>  

        <material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name='geom' texture="texgeom" texuniform="true"/>
    </asset>

    <worldbody>
        <geom name='floor' pos='0 0 0' size='10 10 0.125' type='plane' material="MatPlane" condim='3'/>

        <body name='torso' pos='0 0 1.4'>
            <light mode='trackcom' directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 0 -1'/>

            <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'/>
            <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='-45 45' damping='5' stiffness='20' armature='0.02' />
                <joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
                <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='-35 35' damping='5' stiffness='10' armature='0.02' />
                    <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_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5'   damping='5' stiffness='10' armature='0.01' />
                        <joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35'  damping='5' stiffness='10' armature='0.01' />
                        <joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-110 20' damping='5' stiffness='20' armature='0.0080' />
                        <geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34'  size='0.06' />
                        <body name='right_shin' pos='0 0.01 -0.403' >
                            <joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' armature='0.0060' />
                            <geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3'   size='0.049' />
                            <body name='right_foot' pos='0 0 -.39' >
                                <joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0'   range='-50 50' stiffness='4' armature='0.0008' />
                                <joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1'  armature='0.0006' />
                                <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_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5'  damping='5' stiffness='10' armature='0.01' />
                        <joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
                        <joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
                        <geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34'  size='0.06' />
                        <body name='left_shin' pos='0 -0.01 -0.403' >
                            <joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
                            <geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3'   size='0.049' />
                            <body name='left_foot' pos='0 0 -.39' >
                                <joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0'   range='-50 50'  stiffness='4' armature='0.0008' />
                                <joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50'  stiffness='1'  armature='0.0006' />
                                <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_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1'  range='-85 60' stiffness='1' armature='0.0068' />
                <joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1'  armature='0.0051' />
                <geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16'  size='0.04 0.16' />
                <body name='right_lower_arm' pos='.18 -.18 -.18' >
                    <joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50'  stiffness='0' armature='0.0028' />
                    <geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17'  size='0.031' />
                    <geom name='right_hand' type='sphere' pos='.18 .18 .18'  size='0.04'/>
                </body>
            </body>
            <body name='left_upper_arm' pos='0 0.17 0.06' >
                <joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
                <joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85'  stiffness='1' armature='0.0051' />
                <geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16'  size='0.04 0.16' />
                <body name='left_lower_arm' pos='.18 .18 -.18' >
                    <joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
                    <geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17'  size='0.031' />
                    <geom name='left_hand' type='sphere' pos='.18 -.18 .18'  size='0.04'/>
                </body>
            </body>
        </body>
    </worldbody>

    <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_x'     gear='200' joint='right_hip_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_knee'      gear='400' joint='right_knee' />
        <motor name='right_ankle_x'   gear='100' joint='right_ankle_x' />
        <motor name='right_ankle_y'   gear='100' joint='right_ankle_y' />
        <motor name='left_hip_x'      gear='200' joint='left_hip_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_knee'       gear='400' joint='left_knee' />
        <motor name='left_ankle_x'    gear='100' joint='left_ankle_x' />
        <motor name='left_ankle_y'    gear='100' joint='left_ankle_y' />
        <motor name='right_shoulder1' gear='100' joint='right_shoulder1' />
        <motor name='right_shoulder2' gear='100' joint='right_shoulder2' />
        <motor name='right_elbow'     gear='200' joint='right_elbow' />
        <motor name='left_shoulder1'  gear='100' joint='left_shoulder1' />
        <motor name='left_shoulder2'  gear='100' joint='left_shoulder2' />
        <motor name='left_elbow'      gear='200' joint='left_elbow' />
    </actuator>

</mujoco>
