<mujoco model="humanoid">
  <compiler angle="degree" inertiafromgeom="true" coordinate="global"/>
  <include file="./common/materials.xml"/>
  <visual>
    <headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular="0.1 0.1 0.1"/>
    <map znear=".01"/>
    <quality shadowsize="2048"/>
  </visual>
  <default>
    <joint damping="0.0" armature="0.01" stiffness="0.0" limited="true"/>
    <geom conaffinity="7" condim="1" contype="7" margin="0.001" material="self" rgba="0.8 0.6 .4 1"/>
    <default class="expert">
        <geom conaffinity="7" condim="1" contype="7" margin="0.001" material="self" rgba="0.5 0.0 0.0 1"/>
    </default>
  </default>
  <statistic extent="3" center="0 0 1"/>
  <option timestep="0.00222222222">
    <flag contact="disable"/>
  </option>
  <asset>
    <texture type="skybox" file="./common/sky1.png" gridsize="3 4" gridlayout=".U..LFRB.D.." width="8192" height="8192"/>
    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1=".8 .6 .4" rgb2=".8 .6 .4" type="cube" width="127"/>
    <material name="geom" emission="0.2" texture="texgeom" texuniform="true"/>
  </asset>
  <worldbody>
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        <joint axis="0.0000 1.0000 0.0000" name="Spine_y" pos="0.0000 0.0439 0.0658" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 0.0000 1.0000" name="Spine_z" pos="0.0000 0.0439 0.0658" range="-180.0000 180.0000" type="hinge"/>
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          <joint axis="0.0000 1.0000 0.0000" name="Spine1_y" pos="0.0000 0.0591 0.1523" range="-180.0000 180.0000" type="hinge"/>
          <joint axis="0.0000 0.0000 1.0000" name="Spine1_z" pos="0.0000 0.0591 0.1523" range="-180.0000 180.0000" type="hinge"/>
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            <joint axis="0.0000 1.0000 0.0000" name="Spine2_y" pos="0.0000 0.0668 0.2397" range="-180.0000 180.0000" type="hinge"/>
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                  <joint axis="0.0000 1.0000 0.0000" name="e_LeftArm_y" pos="0.1708 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                  <joint axis="0.0000 0.0000 1.0000" name="e_LeftArm_z" pos="0.1708 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                  <geom fromto="0.1908 0.0191 0.4821 0.3903 0.0191 0.4821" size="0.0340" type="capsule"/>
                  <body name="e_LeftForeArm" user="0.6643 0.0191 0.4821" pos="0.4103 0.0191 0.4821">
                    <joint axis="0.0000 0.0000 1.0000" name="e_LeftForeArm_z" pos="0.4103 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                    <geom fromto="0.4303 0.0191 0.4821 0.6443 0.0191 0.4821" size="0.0300" type="capsule"/>
                    <body name="e_LeftHand" user="0.7282 0.0191 0.4821" pos="0.6643 0.0191 0.4821">
                      <geom pos="0.6683 0.0191 0.4821" size="0.0400" type="sphere"/>
                      <joint axis="1.0000 0.0000 0.0000" name="e_LeftHand_x" pos="0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                      <joint axis="0.0000 1.0000 0.0000" name="e_LeftHand_y" pos="0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                      <joint axis="0.0000 0.0000 1.0000" name="e_LeftHand_z" pos="0.6643 0.0191 0.4821" range="-180.0000 180.0000" type="hinge"/>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="e_RightUpLeg" user="-0.0849 0.0000 -0.4027" pos="0.0000 0.0146 0.0054">
        <joint axis="1.0000 0.0000 0.0000" name="e_RightUpLeg_x" pos="-0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 1.0000 0.0000" name="e_RightUpLeg_y" pos="-0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 0.0000 1.0000" name="e_RightUpLeg_z" pos="-0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <geom fromto="-0.0849 0.0000 -0.0448 -0.0849 0.0000 -0.3827" size="0.0490" type="capsule"/>
        <body name="e_RightLeg" user="-0.0849 0.0000 -0.7988" pos="-0.0849 0.0000 -0.4027">
          <joint axis="1.0000 0.0000 0.0000" name="e_RightLeg_x" pos="-0.0849 0.0000 -0.4027" range="-180.0000 180.0000" type="hinge"/>
          <geom contype="1" conaffinity="1" fromto="-0.0849 0.0000 -0.4227 -0.0849 0.0000 -0.7788" size="0.0400" type="capsule"/>
          <body name="e_RightFoot" user="-0.0849 -0.1308 -0.8464" pos="-0.0849 0.0000 -0.7988">
            <geom contype="1" conaffinity="1" pos="-0.0849 -0.0514 -0.8306" size="0.0620 0.1000 0.0300" quat="1.0000 -0.0000 -0.0000 -0.0000" type="box"/>
            <joint axis="1.0000 0.0000 0.0000" name="e_RightFoot_x" pos="-0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 1.0000 0.0000" name="e_RightFoot_y" pos="-0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 0.0000 1.0000" name="e_RightFoot_z" pos="-0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
          </body>
        </body>
      </body>
      <body name="e_LeftUpLeg" user="0.0849 0.0000 -0.4027" pos="-0.0000 0.0146 0.0054">
        <joint axis="1.0000 0.0000 0.0000" name="e_LeftUpLeg_x" pos="0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 1.0000 0.0000" name="e_LeftUpLeg_y" pos="0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <joint axis="0.0000 0.0000 1.0000" name="e_LeftUpLeg_z" pos="0.0849 0.0000 -0.0248" range="-180.0000 180.0000" type="hinge"/>
        <geom fromto="0.0849 0.0000 -0.0448 0.0849 0.0000 -0.3827" size="0.0490" type="capsule"/>
        <body name="e_LeftLeg" user="0.0849 0.0000 -0.7988" pos="0.0849 0.0000 -0.4027">
          <joint axis="1.0000 0.0000 0.0000" name="e_LeftLeg_x" pos="0.0849 0.0000 -0.4027" range="-180.0000 180.0000" type="hinge"/>
          <geom contype="2" conaffinity="2" fromto="0.0849 0.0000 -0.4227 0.0849 0.0000 -0.7788" size="0.0400" type="capsule"/>
          <body name="e_LeftFoot" user="0.0849 -0.1308 -0.8464" pos="0.0849 0.0000 -0.7988">
            <geom contype="2" conaffinity="2" pos="0.0849 -0.0514 -0.8306" size="0.0620 0.1000 0.0300" quat="1.0000 -0.0000 -0.0000 0.0000" type="box"/>
            <joint axis="1.0000 0.0000 0.0000" name="e_LeftFoot_x" pos="0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 1.0000 0.0000" name="e_LeftFoot_y" pos="0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
            <joint axis="0.0000 0.0000 1.0000" name="e_LeftFoot_z" pos="0.0849 0.0000 -0.7988" range="-180.0000 180.0000" type="hinge"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
</mujoco>
