<mujoco model="mutiagent_world">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true" />
  <option integrator="RK4" timestep="0.003" solver="PGS" iterations="1000" />
  
  <default>
    <joint armature="1" damping="1" limited="true" />
  <default class="agent0"><joint armature="1" damping="1" limited="true" />
    <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.5 0.25 0.25 1" />
    <motor ctrllimited="true" ctrlrange="-.4 .4" />
</default><default class="agent1"><joint armature="1" damping="1" limited="true" />
    <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.25 0.5 0.5 1" />
    <motor ctrllimited="true" ctrlrange="-.4 .4" />
</default></default>
  <asset>
    <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="0.1 0.5 0.1" rgb2="0.1 0.4 0.1" 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 contype="1" conaffinity="1" friction="1 .1 .1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane" />
    <geom fromto="4 -5 0  4 +5 0" name="rightgoal" rgba="0.6 0.0 0.0 1" size=".03" type="cylinder" />
    <geom fromto="-4 -5 0  -4 +5 0" name="leftgoal" rgba="0.6 0.0 0.0 1" size=".03" type="cylinder" />
    <body euler="0 0 0" name="ball" pos="0 0 .15">
        <joint armature="0" damping="0.001" limited="false" name="ball" pos="0 0 0" stiffness="0" type="free" />
        <geom mass="0.15" name="ball" size="0.2" type="sphere" />
    </body>
  <body name="agent0/torso" pos="-1 0 1.5" euler="0 0 180">
    <joint armature="0" damping="0" limited="false" name="agent0/root" pos="0 0 0" stiffness="0" type="free" />
    <geom fromto="0 -.07 0 0 .07 0" name="agent0/torso1" size="0.07" type="capsule" class="agent0" />
    <geom name="agent0/head" pos="0 0 .19" size=".09" type="sphere" user="258" class="agent0" />
    <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="agent0/uwaist" size="0.06" type="capsule" class="agent0" />
    <body name="agent0/lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
        <geom fromto="0 -.06 0 0 .06 0" name="agent0/lwaist" size="0.06" type="capsule" class="agent0" />
        <joint armature="0.02" axis="0 0 1" damping="5" name="agent0/abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" />
        <joint armature="0.02" axis="0 1 0" damping="5" name="agent0/abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" />
        <body name="agent0/pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
            <joint armature="0.02" axis="1 0 0" damping="5" name="agent0/abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" />
            <geom fromto="-.02 -.07 0 -.02 .07 0" name="agent0/butt" size="0.09" type="capsule" class="agent0" />
            <body name="agent0/right_thigh" pos="0 -0.1 -0.04">
                <joint armature="0.01" axis="1 0 0" damping="5" name="agent0/right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
                <joint armature="0.01" axis="0 0 1" damping="5" name="agent0/right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
                <joint armature="0.0080" axis="0 1 0" damping="5" name="agent0/right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge" />
                <geom fromto="0 0 0 0 0.01 -.34" name="agent0/right_thigh1" size="0.06" type="capsule" class="agent0" />
                <body name="agent0/right_shin" pos="0 0.01 -0.403">
                    <joint armature="0.0060" axis="0 -1 0" name="agent0/right_knee" pos="0 0 .02" range="-160 -2" type="hinge" />
                    <geom fromto="0 0 0 0 0 -.3" name="agent0/right_shin1" size="0.049" type="capsule" class="agent0" />
                    <body name="agent0/right_foot" pos="0 0 -0.45">
                        <geom name="agent0/right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" class="agent0" />
                    </body>
                </body>
            </body>
            <body name="agent0/left_thigh" pos="0 0.1 -0.04">
                <joint armature="0.01" axis="-1 0 0" damping="5" name="agent0/left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
                <joint armature="0.01" axis="0 0 -1" damping="5" name="agent0/left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
                <joint armature="0.01" axis="0 1 0" damping="5" name="agent0/left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
                <geom fromto="0 0 0 0 -0.01 -.34" name="agent0/left_thigh1" size="0.06" type="capsule" class="agent0" />
                <body name="agent0/left_shin" pos="0 -0.01 -0.403">
                    <joint armature="0.0060" axis="0 -1 0" name="agent0/left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
                    <geom fromto="0 0 0 0 0 -.3" name="agent0/left_shin1" size="0.049" type="capsule" class="agent0" />
                    <body name="agent0/left_foot" pos="0 0 -0.45">
                        <geom name="agent0/left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" class="agent0" />
                    </body>
                </body>
            </body>
        </body>
    </body>
    <body name="agent0/right_upper_arm" pos="0 -0.17 0.06">
        <joint armature="0.0068" axis="2 1 1" name="agent0/right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
        <joint armature="0.0051" axis="0 -1 1" name="agent0/right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
        <geom fromto="0 0 0 .16 -.16 -.16" name="agent0/right_uarm1" size="0.04 0.16" type="capsule" class="agent0" />
        <body name="agent0/right_lower_arm" pos=".18 -.18 -.18">
            <joint armature="0.0028" axis="0 -1 1" name="agent0/right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
            <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="agent0/right_larm" size="0.031" type="capsule" class="agent0" />
            <geom name="agent0/right_hand" pos=".18 .18 .18" size="0.04" type="sphere" class="agent0" />
            <camera pos="0 0 0" name="agent0/anon3640796330" />
        </body>
    </body>
    <body name="agent0/left_upper_arm" pos="0 0.17 0.06">
        <joint armature="0.0068" axis="2 -1 1" name="agent0/left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
        <joint armature="0.0051" axis="0 1 1" name="agent0/left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
        <geom fromto="0 0 0 .16 .16 -.16" name="agent0/left_uarm1" size="0.04 0.16" type="capsule" class="agent0" />
        <body name="agent0/left_lower_arm" pos=".18 .18 -.18">
            <joint armature="0.0028" axis="0 -1 -1" name="agent0/left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
            <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="agent0/left_larm" size="0.031" type="capsule" class="agent0" />
            <geom name="agent0/left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" class="agent0" />
        </body>
    </body>
</body>

<body name="agent1/torso" pos="1 0 1.5" euler="0 0 180">
    <joint armature="0" damping="0" limited="false" name="agent1/root" pos="0 0 0" stiffness="0" type="free" />
    <geom fromto="0 -.07 0 0 .07 0" name="agent1/torso1" size="0.07" type="capsule" class="agent1" />
    <geom name="agent1/head" pos="0 0 .19" size=".09" type="sphere" user="258" class="agent1" />
    <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="agent1/uwaist" size="0.06" type="capsule" class="agent1" />
    <body name="agent1/lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
        <geom fromto="0 -.06 0 0 .06 0" name="agent1/lwaist" size="0.06" type="capsule" class="agent1" />
        <joint armature="0.02" axis="0 0 1" damping="5" name="agent1/abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" />
        <joint armature="0.02" axis="0 1 0" damping="5" name="agent1/abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" />
        <body name="agent1/pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
            <joint armature="0.02" axis="1 0 0" damping="5" name="agent1/abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" />
            <geom fromto="-.02 -.07 0 -.02 .07 0" name="agent1/butt" size="0.09" type="capsule" class="agent1" />
            <body name="agent1/right_thigh" pos="0 -0.1 -0.04">
                <joint armature="0.01" axis="1 0 0" damping="5" name="agent1/right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
                <joint armature="0.01" axis="0 0 1" damping="5" name="agent1/right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
                <joint armature="0.0080" axis="0 1 0" damping="5" name="agent1/right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge" />
                <geom fromto="0 0 0 0 0.01 -.34" name="agent1/right_thigh1" size="0.06" type="capsule" class="agent1" />
                <body name="agent1/right_shin" pos="0 0.01 -0.403">
                    <joint armature="0.0060" axis="0 -1 0" name="agent1/right_knee" pos="0 0 .02" range="-160 -2" type="hinge" />
                    <geom fromto="0 0 0 0 0 -.3" name="agent1/right_shin1" size="0.049" type="capsule" class="agent1" />
                    <body name="agent1/right_foot" pos="0 0 -0.45">
                        <geom name="agent1/right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" class="agent1" />
                    </body>
                </body>
            </body>
            <body name="agent1/left_thigh" pos="0 0.1 -0.04">
                <joint armature="0.01" axis="-1 0 0" damping="5" name="agent1/left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
                <joint armature="0.01" axis="0 0 -1" damping="5" name="agent1/left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
                <joint armature="0.01" axis="0 1 0" damping="5" name="agent1/left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
                <geom fromto="0 0 0 0 -0.01 -.34" name="agent1/left_thigh1" size="0.06" type="capsule" class="agent1" />
                <body name="agent1/left_shin" pos="0 -0.01 -0.403">
                    <joint armature="0.0060" axis="0 -1 0" name="agent1/left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
                    <geom fromto="0 0 0 0 0 -.3" name="agent1/left_shin1" size="0.049" type="capsule" class="agent1" />
                    <body name="agent1/left_foot" pos="0 0 -0.45">
                        <geom name="agent1/left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" class="agent1" />
                    </body>
                </body>
            </body>
        </body>
    </body>
    <body name="agent1/right_upper_arm" pos="0 -0.17 0.06">
        <joint armature="0.0068" axis="2 1 1" name="agent1/right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
        <joint armature="0.0051" axis="0 -1 1" name="agent1/right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
        <geom fromto="0 0 0 .16 -.16 -.16" name="agent1/right_uarm1" size="0.04 0.16" type="capsule" class="agent1" />
        <body name="agent1/right_lower_arm" pos=".18 -.18 -.18">
            <joint armature="0.0028" axis="0 -1 1" name="agent1/right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
            <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="agent1/right_larm" size="0.031" type="capsule" class="agent1" />
            <geom name="agent1/right_hand" pos=".18 .18 .18" size="0.04" type="sphere" class="agent1" />
            <camera pos="0 0 0" name="agent1/anon6912810000" />
        </body>
    </body>
    <body name="agent1/left_upper_arm" pos="0 0.17 0.06">
        <joint armature="0.0068" axis="2 -1 1" name="agent1/left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
        <joint armature="0.0051" axis="0 1 1" name="agent1/left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
        <geom fromto="0 0 0 .16 .16 -.16" name="agent1/left_uarm1" size="0.04 0.16" type="capsule" class="agent1" />
        <body name="agent1/left_lower_arm" pos=".18 .18 -.18">
            <joint armature="0.0028" axis="0 -1 -1" name="agent1/left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
            <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="agent1/left_larm" size="0.031" type="capsule" class="agent1" />
            <geom name="agent1/left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" class="agent1" />
        </body>
    </body>
</body>

</worldbody>
<actuator>
    <motor gear="100" joint="agent0/abdomen_y" name="agent0/abdomen_y" class="agent0" />
    <motor gear="100" joint="agent0/abdomen_z" name="agent0/abdomen_z" class="agent0" />
    <motor gear="100" joint="agent0/abdomen_x" name="agent0/abdomen_x" class="agent0" />
    <motor gear="100" joint="agent0/right_hip_x" name="agent0/right_hip_x" class="agent0" />
    <motor gear="100" joint="agent0/right_hip_z" name="agent0/right_hip_z" class="agent0" />
    <motor gear="300" joint="agent0/right_hip_y" name="agent0/right_hip_y" class="agent0" />
    <motor gear="200" joint="agent0/right_knee" name="agent0/right_knee" class="agent0" />
    <motor gear="100" joint="agent0/left_hip_x" name="agent0/left_hip_x" class="agent0" />
    <motor gear="100" joint="agent0/left_hip_z" name="agent0/left_hip_z" class="agent0" />
    <motor gear="300" joint="agent0/left_hip_y" name="agent0/left_hip_y" class="agent0" />
    <motor gear="200" joint="agent0/left_knee" name="agent0/left_knee" class="agent0" />
    <motor gear="25" joint="agent0/right_shoulder1" name="agent0/right_shoulder1" class="agent0" />
    <motor gear="25" joint="agent0/right_shoulder2" name="agent0/right_shoulder2" class="agent0" />
    <motor gear="25" joint="agent0/right_elbow" name="agent0/right_elbow" class="agent0" />
    <motor gear="25" joint="agent0/left_shoulder1" name="agent0/left_shoulder1" class="agent0" />
    <motor gear="25" joint="agent0/left_shoulder2" name="agent0/left_shoulder2" class="agent0" />
    <motor gear="25" joint="agent0/left_elbow" name="agent0/left_elbow" class="agent0" />
<motor gear="100" joint="agent1/abdomen_y" name="agent1/abdomen_y" class="agent1" />
    <motor gear="100" joint="agent1/abdomen_z" name="agent1/abdomen_z" class="agent1" />
    <motor gear="100" joint="agent1/abdomen_x" name="agent1/abdomen_x" class="agent1" />
    <motor gear="100" joint="agent1/right_hip_x" name="agent1/right_hip_x" class="agent1" />
    <motor gear="100" joint="agent1/right_hip_z" name="agent1/right_hip_z" class="agent1" />
    <motor gear="300" joint="agent1/right_hip_y" name="agent1/right_hip_y" class="agent1" />
    <motor gear="200" joint="agent1/right_knee" name="agent1/right_knee" class="agent1" />
    <motor gear="100" joint="agent1/left_hip_x" name="agent1/left_hip_x" class="agent1" />
    <motor gear="100" joint="agent1/left_hip_z" name="agent1/left_hip_z" class="agent1" />
    <motor gear="300" joint="agent1/left_hip_y" name="agent1/left_hip_y" class="agent1" />
    <motor gear="200" joint="agent1/left_knee" name="agent1/left_knee" class="agent1" />
    <motor gear="25" joint="agent1/right_shoulder1" name="agent1/right_shoulder1" class="agent1" />
    <motor gear="25" joint="agent1/right_shoulder2" name="agent1/right_shoulder2" class="agent1" />
    <motor gear="25" joint="agent1/right_elbow" name="agent1/right_elbow" class="agent1" />
    <motor gear="25" joint="agent1/left_shoulder1" name="agent1/left_shoulder1" class="agent1" />
    <motor gear="25" joint="agent1/left_shoulder2" name="agent1/left_shoulder2" class="agent1" />
    <motor gear="25" joint="agent1/left_elbow" name="agent1/left_elbow" class="agent1" />
</actuator>

<tendon>
    <fixed name="agent0/left_hipknee">
        <joint coef="-1" joint="agent0/left_hip_y" />
        <joint coef="1" joint="agent0/left_knee" />
    </fixed>
    <fixed name="agent0/right_hipknee">
        <joint coef="-1" joint="agent0/right_hip_y" />
        <joint coef="1" joint="agent0/right_knee" />
    </fixed>
<fixed name="agent1/left_hipknee">
        <joint coef="-1" joint="agent1/left_hip_y" />
        <joint coef="1" joint="agent1/left_knee" />
    </fixed>
    <fixed name="agent1/right_hipknee">
        <joint coef="-1" joint="agent1/right_hip_y" />
        <joint coef="1" joint="agent1/right_knee" />
    </fixed>
</tendon>

</mujoco>