<mujoco model="humanoid">
    <compiler angle="degree" inertiafromgeom="true"/>
    <default>
        <joint armature="1" damping="1" limited="true"/>
        <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
        <motor ctrllimited="true" ctrlrange="-.4 .4"/>
    </default>
    <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
        <!-- <flags solverstat="enable" energy="enable"/>-->
    </option>
    <size nkey="5" nuser_geom="1"/>
    <visual>
        <map fogend="5" fogstart="3"/>
    </visual>
    <asset>
        <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
        <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
    </asset>
    <worldbody>
        <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
        <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
        <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
        <body name="torso" pos="0 0 1.4">
            <joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
            <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
            <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
            <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
                <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
                <joint armature="0.02" axis="0 1 0" damping="5" name="abdomenY" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
                <joint armature="0.02" axis="0 0 1" damping="5" name="abdomenZ" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
                <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
                    <joint armature="0.02" axis="1 0 0" damping="5" name="abdomenX" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>

                    <body name="thigh_1" pos="0 -0.1 -0.04">
                        <joint armature="0.0080" axis="0 1 0" damping="5" name="hipY_1" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
                        <joint armature="0.01" axis="1 0 0" damping="5" name="hipX_1" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
                        <joint armature="0.01" axis="0 0 1" damping="5" name="hipZ_1" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
                        <geom fromto="0 0 0 0 0.01 -.34" name="thighGeom_1" size="0.06" type="capsule"/>
                        <body name="shin_1" pos="0 0.01 -0.403">
                            <joint armature="0.0060" axis="0 -1 0" name="knee_1" pos="0 0 .02" range="-160 -2" type="hinge"/>
                            <geom fromto="0 0 0 0 0 -.3" name="shinGeom_1" size="0.049" type="capsule"/>
                            <body name="foot_1" pos="0 0 -0.45">
                                <geom name="footGeom_1" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
                            </body>
                        </body>
                    </body>
                    <body name="thigh_2" pos="0 0.1 -0.04">
                        <joint armature="0.01" axis="0 1 0" damping="5" name="hipY_2" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
                        <joint armature="0.01" axis="-1 0 0" damping="5" name="hipX_2" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
                        <joint armature="0.01" axis="0 0 -1" damping="5" name="hipZ_2" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
                        <geom fromto="0 0 0 0 -0.01 -.34" name="thighGeom_2" size="0.06" type="capsule"/>
                        <body name="shin_2" pos="0 -0.01 -0.403">
                            <joint armature="0.0060" axis="0 -1 0" name="knee_2" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
                            <geom fromto="0 0 0 0 0 -.3" name="shinGeom_2" size="0.049" type="capsule"/>
                            <body name="foot_2" pos="0 0 -0.45">
                                <geom name="footGeom_2" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
                            </body>
                        </body>
                    </body>
                </body>
            </body>

            <body name="upperArm_1" pos="0 -0.17 0.06">
                <joint armature="0.0068" axis="2 1 1" name="shoulderX_1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
                <joint armature="0.0051" axis="0 -1 1" name="shoulderY_1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
                <geom fromto="0 0 0 .16 -.16 -.16" name="uarm_1" size="0.04 0.16" type="capsule"/>
                <body name="lowerArm_1" pos=".18 -.18 -.18">
                    <joint armature="0.0028" axis="0 -1 1" name="elbow_1" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
                    <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="larm_1" size="0.031" type="capsule"/>
                    <geom name="hand_1" pos=".18 .18 .18" size="0.04" type="sphere"/>
                    <camera pos="0 0 0"/>
                </body>
            </body>
            <body name="upperArm_2" pos="0 0.17 0.06">
                <joint armature="0.0068" axis="2 -1 1" name="shoulderX_2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
                <joint armature="0.0051" axis="0 1 1" name="shoulderY_2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
                <geom fromto="0 0 0 .16 .16 -.16" name="uarm_2" size="0.04 0.16" type="capsule"/>
                <body name="lowerArm_2" pos=".18 .18 -.18">
                    <joint armature="0.0028" axis="0 -1 -1" name="elbow_2" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
                    <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="larm_2" size="0.031" type="capsule"/>
                    <geom name="hand_2" pos=".18 -.18 .18" size="0.04" type="sphere"/>
                </body>
            </body>
        </body>
    </worldbody>
    <tendon>
        <fixed name="hipknee_1">
            <joint coef="-1" joint="hipY_1"/>
            <joint coef="1" joint="knee_1"/>
        </fixed>
        <fixed name="hipknee_2">
            <joint coef="-1" joint="hipY_2"/>
            <joint coef="1" joint="knee_2"/>
        </fixed>
    </tendon>

    <actuator>
        <motor gear="100" joint="abdomenY" name="abdomenY"/>
        <motor gear="100" joint="abdomenZ" name="abdomenZ"/>
        <motor gear="100" joint="abdomenX" name="abdomenX"/>

        <motor gear="300" joint="hipY_1" name="hipY_1"/>
        <motor gear="100" joint="hipX_1" name="hipX_1"/>
        <motor gear="100" joint="hipZ_1" name="hipZ_1"/>
        <motor gear="200" joint="knee_1" name="knee_1"/>

        <motor gear="300" joint="hipY_2" name="hipY_2"/>
        <motor gear="100" joint="hipX_2" name="hipX_2"/>
        <motor gear="100" joint="hipZ_2" name="hipZ_2"/>
        <motor gear="200" joint="knee_2" name="knee_2"/>

        <motor gear="25" joint="shoulderX_1" name="shoulderX_1"/>
        <motor gear="25" joint="shoulderY_1" name="shoulderY_1"/>
        <motor gear="25" joint="elbow_1" name="elbow_1"/>

        <motor gear="25" joint="shoulderX_2" name="shoulderX_2"/>
        <motor gear="25" joint="shoulderY_2" name="shoulderY_2"/>
        <motor gear="25" joint="elbow_2" name="elbow_2"/>
    </actuator>
</mujoco>
