<mujoco model="Humanoid">

    <compiler inertiafromgeom="true" angle="degree"/>

    <default>
        <motor ctrlrange="-1 1" ctrllimited="true"/>
        <joint limited="true" damping="1" armature="0"/>
        <geom condim="1" material="matgeom"/>
    </default>

    <option 
        timestep="0.01" 
        iterations="50" 
        tolerance="1e-10" 
        solver="Newton" 
        jacobian="dense" 
        cone="pyramidal"
    />

    <size nconmax="50" njmax="200" nstack="10000"/>

    <visual>
        <map force="0.1" zfar="30"/>
        <rgba haze="0.15 0.25 0.35 1"/>
        <quality shadowsize="2048"/>
        <global offwidth="800" offheight="800"/>
    </visual>

    <asset>
        <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texplane" type="2d" builtin="checker" 
            rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" 
            width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
        <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"/>
        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
        <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
    </asset>

    <worldbody>
        
        <!--      -->
        <camera name="fixed" pos="4 -4 5" euler="35 45 45"/>
        <!--      -->
        <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
        <!--      -->
        <light directional="false" diffuse=".2 .2 .2" 
            specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
        <light directional="false" diffuse=".8 .8 .8" mode="targetbodycom" target="torso" 
            specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
        <!--      -->
        <body name="torso" pos="0 0 0.04" euler="0.0 0.0 0.0" >
            <site name="root" pos="0 0 0" size=".01" zaxis="0 0 0.01"/>
            <body name="bong0" pos="0 0 0" >
                <site name="bong0_0" pos=" 0.10  0.20 0" size=".05" zaxis="0 0 0.01"/>
                <geom name="bong0_0" pos=" 0.10  0.20 0" type="sphere" size="0.04" />
                <site name="bong0_1" pos="-0.10 -0.12 0" size=".05" zaxis="0 0 0.01"/>
                <geom name="bong0_1" pos="-0.10 -0.12 0" type="sphere"  size="0.04" />
                <site name="bong0_2" pos=" 0.10 -0.12 0" size=".05" zaxis="0 0 0.01"/>
                <geom name="bong0_2" pos=" 0.10 -0.12 0" type="sphere" size="0.04" />
                <site name="bong0_3" pos="-0.10  0.20 0" size=".05" zaxis="0 0 0.01"/>
                <geom name="bong0_3" pos="-0.10  0.20 0" type="sphere" size="0.04" />
                <body name="bong1" pos="0 0 0.05" >
                    <site name="sssss" pos="0 0 0" size=".01" zaxis="0 0 0.01"/>
                    <geom name="bong1" type="capsule" fromto="0 0 0 0 0 0.9" size="0.05" />
                    <joint name="bong1_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-20 20" damping="1" stiffness="5" armature="0.02" />
                    <joint name="bong1_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-20 20" damping="1" stiffness="5" armature="0.02" />
                    <body name="bong2" pos="0 0 1" >
                        <site name="aaaaa" pos="0 0 0" size=".01" zaxis="0 0 0.01"/>
                        <geom name="bong2" type="sphere" size="0.04" />
                    </body>
                </body>
            </body>
        </body>

    </worldbody>

    <!--  -->
    <actuator>
        <motor name="bong1_x" gear="50" joint="bong1_x" />
        <motor name="bong1_y" gear="50" joint="bong1_y" />
    </actuator>

    <sensor>
        <!--    -->
        <jointvel  name="jointvel_x" joint="bong1_x"/>
        <jointvel  name="jointvel_y" joint="bong1_y"/>
    </sensor>

</mujoco>
