<?xml version="1.0" encoding="utf-8"?>
<mujoco model="humanoid">
	<compiler angle="degree" inertiafromgeom="true"></compiler>
	<default>
		<joint armature="1" damping="1.0141720320370582" limited="true"></joint>
		<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"></geom>
		<motor ctrllimited="true" ctrlrange="-.4 .4"></motor>
	</default>
	<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003"></option>
	<size nkey="5" nuser_geom="1"></size>
	<visual>
		<map fogend="5" fogstart="3"></map>
	</visual>
	<asset>
		<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"></texture>
		<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>
		<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"></texture>
		<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"></material>
		<material name="geom" texture="texgeom" texuniform="true"></material>
	</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"></light>
		<geom condim="3" friction="0.9686898177176635 0.10269044672783828 0.10437498501532827" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20.445652832026507 19.587829017750717 0.12665834631442763" type="plane"></geom>
		<body name="torso" pos="0 0 1.4">
			<camera name="track" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1"></camera>
			<joint armature="0" damping="0.0" limited="false" name="root" pos="0 0 0" stiffness="0.0" type="free"></joint>
			<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07098556466588904" type="capsule"></geom>
			<geom name="head" pos="0 0 .19" size="0.08885286829325882" type="sphere" user="258"></geom>
			<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.05874743247082618" type="capsule"></geom>
			<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="0.06172836445659688" type="capsule"></geom>
				<joint armature="0.02" axis="0 0 1" damping="4.836033115673505" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20.29225103313804" type="hinge"></joint>
				<joint armature="0.02" axis="0 1 0" damping="4.925593168103705" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="9.519915340662935" type="hinge"></joint>
				<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
					<joint armature="0.02" axis="1 0 0" damping="4.9891454924826615" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="9.569053728648427" type="hinge"></joint>
					<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.0941618563484847" type="capsule"></geom>
					<body name="right_thigh" pos="0 -0.1 -0.04">
						<joint armature="0.01" axis="1 0 0" damping="4.857717704470591" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10.176218157641275" type="hinge"></joint>
						<joint armature="0.01" axis="0 0 1" damping="5.091110169296815" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="9.880190060950053" type="hinge"></joint>
						<joint armature="0.0080" axis="0 1 0" damping="4.8709496877138845" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="19.298458720145035" type="hinge"></joint>
						<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06054573512111358" type="capsule"></geom>
						<body name="right_shin" pos="0 0.01 -0.403">
							<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge"></joint>
							<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.04797336300527636" type="capsule"></geom>
							<body name="right_foot" pos="0 0 -0.45">
								<geom name="right_foot" pos="0 0 0.1" size="0.07543782786664839" type="sphere" user="0"></geom>
							</body>
						</body>
					</body>
					<body name="left_thigh" pos="0 0.1 -0.04">
						<joint armature="0.01" axis="-1 0 0" damping="5.243515149761636" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="9.748471243627355" type="hinge"></joint>
						<joint armature="0.01" axis="0 0 -1" damping="5.068712522236299" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="9.680831568421569" type="hinge"></joint>
						<joint armature="0.01" axis="0 1 0" damping="5.029243732109182" name="left_hip_y" pos="0 0 0" range="-110 20" stiffness="20.95158440758886" type="hinge"></joint>
						<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.05962316427379039" type="capsule"></geom>
						<body name="left_shin" pos="0 -0.01 -0.403">
							<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="0.9923638681309384" type="hinge"></joint>
							<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049935211334763904" type="capsule"></geom>
							<body name="left_foot" pos="0 0 -0.45">
								<geom name="left_foot" type="sphere" size="0.07462419460515683" pos="0 0 0.1" user="0"></geom>
							</body>
						</body>
					</body>
				</body>
			</body>
			<body name="right_upper_arm" pos="0 -0.17 0.06">
				<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1.0483104187645211" type="hinge"></joint>
				<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1.0413428051530538" type="hinge"></joint>
				<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.0394202116397576 0.15296310970718305" type="capsule"></geom>
				<body name="right_lower_arm" pos=".18 -.18 -.18">
					<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0.0" type="hinge"></joint>
					<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.030458239256627506" type="capsule"></geom>
					<geom name="right_hand" pos=".18 .18 .18" size="0.041231367039678606" type="sphere"></geom>
					<camera pos="0 0 0"></camera>
				</body>
			</body>
			<body name="left_upper_arm" pos="0 0.17 0.06">
				<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="0.9674138540577695" type="hinge"></joint>
				<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1.0484240062569254" type="hinge"></joint>
				<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.0380215532836137 0.1630946230036717" type="capsule"></geom>
				<body name="left_lower_arm" pos=".18 .18 -.18">
					<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0.0" type="hinge"></joint>
					<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.030782842890910173" type="capsule"></geom>
					<geom name="left_hand" pos=".18 -.18 .18" size="0.04163541157297417" type="sphere"></geom>
				</body>
			</body>
		</body>
	</worldbody>
	<tendon>
		<fixed name="left_hipknee">
			<joint coef="-1" joint="left_hip_y"></joint>
			<joint coef="1" joint="left_knee"></joint>
		</fixed>
		<fixed name="right_hipknee">
			<joint coef="-1" joint="right_hip_y"></joint>
			<joint coef="1" joint="right_knee"></joint>
		</fixed>
	</tendon>
	<actuator>
		<motor gear="100" joint="abdomen_y" name="abdomen_y"></motor>
		<motor gear="100" joint="abdomen_z" name="abdomen_z"></motor>
		<motor gear="100" joint="abdomen_x" name="abdomen_x"></motor>
		<motor gear="100" joint="right_hip_x" name="right_hip_x"></motor>
		<motor gear="100" joint="right_hip_z" name="right_hip_z"></motor>
		<motor gear="300" joint="right_hip_y" name="right_hip_y"></motor>
		<motor gear="200" joint="right_knee" name="right_knee"></motor>
		<motor gear="100" joint="left_hip_x" name="left_hip_x"></motor>
		<motor gear="100" joint="left_hip_z" name="left_hip_z"></motor>
		<motor gear="300" joint="left_hip_y" name="left_hip_y"></motor>
		<motor gear="200" joint="left_knee" name="left_knee"></motor>
		<motor gear="25" joint="right_shoulder1" name="right_shoulder1"></motor>
		<motor gear="25" joint="right_shoulder2" name="right_shoulder2"></motor>
		<motor gear="25" joint="right_elbow" name="right_elbow"></motor>
		<motor gear="25" joint="left_shoulder1" name="left_shoulder1"></motor>
		<motor gear="25" joint="left_shoulder2" name="left_shoulder2"></motor>
		<motor gear="25" joint="left_elbow" name="left_elbow"></motor>
	</actuator>
</mujoco>