<!-- ======================================================
	This file is part of MuJoCo.
	Copyright 2009-2015 Roboti LLC.
	Model 		:: PR2 from Willow Garage
		Source		: (Provided by Sergey Levine, UC Berkeley)
		Downloaded	: 18July'14
	Mujoco		:: Advanced physics simulation engine
		Source		: www.roboti.us
		Version		: 1.22
		Released 	: 26Nov15
	Author		:: Vikash Kumar
		Contacts 	: kumar@roboti.us
		Last edits 	: 14Dec'15, 10Oct'15
====================================================== -->
<mujoco model="pr2(v1.22)">
    <compiler 	meshdir="/home/yiming/dm_control/dm_control/suite/pr2_assets/meshes"
				coordinate="local"
				angle="radian"/>

	<option timestep="0.05" gravity="0 0 0" collision="all"/>
	<asset>
		<mesh file="base_L.stl"/>
		<mesh file="caster_L.stl"/>
		<mesh file="torso_lift_L.stl"/>
		<mesh file="head_pan_L.stl"/>
		<mesh file="head_tilt_L.stl"/>
		<mesh file="tilting_hokuyo_L.stl"/>
		<mesh file="shoulder_pan.stl"/>
		<mesh file="shoulder_lift.stl"/>
		<mesh file="upper_arm_roll_L.stl"/>
		<mesh file="upper_arm.stl"/>
		<mesh file="elbow_flex.stl"/>
		<mesh file="forearm_roll_L.stl"/>
		<mesh file="forearm.stl"/>


		<mesh file="wrist_flex.stl"/>
		<mesh file="wrist_roll_L.stl"/>
		<mesh file="gripper_palm.stl"/>
		<mesh file="l_finger.stl"/>
		<mesh file="l_finger_tip.stl"/>

		<material name="MatGnd" specular=".3" shininess=".3" reflectance="0.3" rgba=".5 .55 .5 1"/>
	</asset>



    <contact>
        <pair geom1="r_gripper_l_finger_tip" geom2="r_gripper_r_finger_tip"/>
		<pair geom1="l_gripper_l_finger_tip" geom2="l_gripper_r_finger_tip"/>
		<pair geom1="base" geom2="r_forearm"/>
		<pair geom1="base" geom2="l_forearm"/>
    </contact>

    <default>
        <joint limited="false" damping=".01" armature=".005"/>
        <geom contype="0" conaffinity="0" friction="1 0.1 0.1" type="mesh" rgba="0.8 0.6 .4 1"/>
		<default class="gripper">
			<joint damping="0.005" armature=".005"/>
		</default>
    </default>

    <worldbody>
    <camera name="camera" pos="1.6 0.0 1.5" euler="0.0 1.1 1.5707" fovy="60"/>
	<light directional="true" cutoff="4" exponent="20" diffuse="1 1 1" specular="0 0 0" pos=".5 0.75 1.5" dir="-.5 -0.75 -1.5"/>
	<geom name="gnd" material="MatGnd" type="plane" contype="0" conaffinity="1" pos="0 0 0" size="5.5 5.5 0.25" rgba="0 0 0 1"/>
        <body name="base_footprint" pos="0 0 0">
            <inertial pos="0 0 0" mass="1" diaginertia="0.01 0.01 0.01" />
            <body name="base_link" pos="0 0 0.051">
                <inertial pos="-0.061 0 0.293" quat="0.973598 0.001764 -0.228065 -0.009443" mass="116" diaginertia="6.293885 5.669245 3.041772" />
                <geom name="base" rgba="1 1 1 1" mesh="base_L" contype="0"/>

                <body name="torso_lift_link" pos="-0.05 0 0.739675">
                    <inertial pos="-0.1 0 -0.0885" quat="0.999335 0.007626 0.035453 0.003712" mass="36.248046" diaginertia="2.783075 2.510450 0.514581" />
                    <geom name="geom15" rgba="0.9 0.9 0.9 1" mesh="torso_lift_L" contype="0"/>

                    <body name="l_shoulder_pan_link" pos="0 0.188 0">
                        <inertial pos="-0.001201 0.024513 -0.098231" quat="0.927482 -0.087656 0.074060 -0.355821" mass="25.799322" diaginertia="0.934201 0.837701 0.242033" />
                        <joint name="l_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.714602 2.285398" damping="10.0"/>
                        <geom name="geom50" rgba="0.7 0.7 0.7 1" mesh="shoulder_pan" contype="0"/>
                        <body name="l_shoulder_lift_link" pos="0.1 0 0">
                            <inertial pos="0.02195 -0.02664 -0.03127" quat="0.791779 0.478014 0.238985 0.295762" mass="2.74988" diaginertia="0.026187 0.020730 0.015168" />
                            <joint name="l_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-0.5236 1.3963" damping="10.0"/>
                            <geom name="geom51" rgba="0.7 0.7 0.7 1" mesh="shoulder_lift" />
                            <body name="l_upper_arm_roll_link" pos="0 0 0">
                                <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
                                <joint name="l_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-0.8 3.9" damping="0.1"/>
                                <body name="l_upper_arm_link" pos="0 0 0">
                                    <inertial pos="0.21405 0.01658 -0.00057" quat="-0.090901 0.708675 -0.051638 0.697746" mass="6.01769" diaginertia="0.076070 0.074882 0.015107" />
                                    <geom name="geom53" rgba="0.7 0.7 0.7 1" mesh="upper_arm" contype="0"/>
                                    <body name="l_elbow_flex_link" pos="0.4 0 0">
                                        <inertial pos="0.01014 0.00032 -0.01211" quat="0.308784 0.646797 0.639077 0.279083" mass="1.90327" diaginertia="0.004419 0.003965 0.003090" />
                                        <joint name="l_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-2.3213 0" damping="1.0"/>
                                        <geom name="geom54" rgba="0.7 0.7 0.7 1" mesh="elbow_flex" />
                                        <body name="l_forearm_roll_link" pos="0 0 0">
                                            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
                                            <joint name="l_forearm_roll_joint" type="hinge"   pos="0 0 0" axis="1 0 0" damping="1.0"/>
                                            <body name="l_forearm_link" pos="0 0 0">
                                                <inertial pos="0.18791 -0.00017 -0.00912" quat="-0.000587 0.726286 -0.003969 0.687381" mass="2.57968" diaginertia="0.016633 0.015078 0.003609" />
                                                <geom name="l_forearm" rgba="0.7 0.7 0.7 1" mesh="forearm" contype="0"/>
                                                <body name="l_wrist_flex_link" pos="0.321 0 0">
                                                    <inertial pos="-0.00157 0 -0.00075" quat="0.695976 0.696411 -0.123560 0.123942" mass="0.61402" diaginertia="0.000653 0.000643 0.000198" />
                                                    <joint name="l_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-2.094 0" damping="0.1"/>
                                                    <geom name="geom57" rgba="0.7 0.7 0.7 1" mesh="wrist_flex" contype="0"/>
                                                    <body name="l_wrist_roll_link" pos="0 0 0">
                                                        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                                        <joint name="l_wrist_roll_joint" type="hinge"   pos="0 0 0" axis="1 0 0" damping="0.1"/>
                                                        <body name="l_gripper_palm_link" pos="0.038 0 0" childclass="gripper">
                                                            <inertial pos="0.06623 0.00053 -0.00119" quat="-0.018184 0.706274 0.016077 0.707523" mass="0.58007" diaginertia="0.000866 0.000678 0.000351" />
                                                            <geom name="geom59" rgba="0.7 0.7 0.7 1" mesh="gripper_palm" pos="0 0 0"/>
                                                            <body name="sensor" pos="0.01 0 0">
                                                                <geom name="sensor" rgba="0.7 0.7 0.7 1" type="cylinder" size="0.022 0.019" pos="0 0 0" quat="-0.018184 0.706274 0.016077 0.707523"/>
                                                            </body>
                                                            <body name="l_gripper_led_frame" pos="0.0513 0 0.0244">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />
                                                            </body>
                                                            <body name="l_gripper_motor_accelerometer_link" pos="0 0 0">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.001 0.001 0.001" />
                                                                <geom name="geom60" type="box" pos="0 0 0" size="0.0005 0.0005 0.0005" />
                                                            </body>
                                                            <body name="l_gripper_tool_frame" pos="0.18 0 0">
                                                            </body>
                                                                <body name="l_gripper_l_finger_link" pos="0.07691 0.01 0">
                                                                <inertial pos="0.03598 0.0173 -0.00164" quat="0.574440 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.000198 0.000181 0.000077" />
                                                                <geom name="geom61" rgba="0.7 0.7 0.7 1" mesh="l_finger" />
                                                                <body name="l_gripper_l_finger_tip_link" pos="0.09137 0.00495 0">
                                                                    <inertial pos="0.00423 0.00284 0" quat="0.249588 0.661594 -0.249588 0.661594" mass="0.04419" diaginertia="0.000015 0.000015 0.000003" />
                                                                    <geom name="l_gripper_l_finger_tip" rgba="0.7 0.7 0.7 1" mesh="l_finger_tip" />
                                                                </body>

                                                            </body>
                                                            <body name="l_gripper_r_finger_link" pos="0.07691 -0.01 0">
                                                                <inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000199 0.000181 0.000077" />
                                                                <geom name="geom63" euler="3.14 0 0" rgba="0.7 0.7 0.7 1" mesh="l_finger" />
                                                                    <site name="tip" pos="0 0 0" size="0.01"/>

                                                                <body name="l_gripper_r_finger_tip_link" pos="0.09137 -0.00495 0">
                                                                    <inertial pos="0.00423 -0.00284 0" quat="-0.249588 0.661594 0.249588 0.661594" mass="0.04419" diaginertia="0.000015 0.000015 0.000003" />
                                                                    <geom name="l_gripper_r_finger_tip" euler="3.14 0 0" rgba="0.7 0.7 0.7 1" mesh="l_finger_tip" />

                                                                </body>

                                                        </body>


                                                        </body>
                                                    </body>
                                                </body>
                                            </body>

                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>

                    <body name="r_shoulder_pan_link" pos="0 -0.188 0">
                        <inertial pos="-0.001201 0.024513 -0.098231" quat="0.927482 -0.087656 0.074060 -0.355821" mass="25.799322" diaginertia="0.934201 0.837701 0.242033" />
                        <geom name="geom32" rgba="0.7 0.7 0.7 1" mesh="shoulder_pan" contype="0"/>
                        <body name="r_shoulder_lift_link" pos="0.1 0 0">
                            <inertial pos="0.02195 -0.02664 -0.03127" quat="0.791779 0.478014 0.238985 0.295762" mass="2.74988" diaginertia="0.026187 0.020730 0.015168" />
                            <geom name="geom33" rgba="0.7 0.7 0.7 1" mesh="shoulder_lift" contype="0"/>
                            <body name="r_upper_arm_roll_link" pos="0 0 0">
                                <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                <body name="r_upper_arm_link" pos="0 0 0">
                                    <inertial pos="0.21398 -0.01621 -0.0002" quat="-0.045020 0.697462 -0.088537 0.709705" mass="6.01769" diaginertia="0.076138 0.074931 0.015133" />
                                    <geom name="geom35" rgba="0.7 0.7 0.7 1" mesh="upper_arm" contype="0"/>
                                    <body name="r_elbow_flex_link" pos="0.4 0 0">
                                        <inertial pos="0.01014 0.00032 -0.01211" quat="0.308784 0.646797 0.639077 0.279083" mass="1.90327" diaginertia="0.004419 0.003965 0.003090" />
                                        <geom name="geom36" rgba="0.7 0.7 0.7 1" mesh="elbow_flex" contype="0"/>
                                        <body name="r_forearm_roll_link" pos="0 0 0">
                                            <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
                                            <body name="r_forearm_link" pos="0 0 0">
                                                <inertial pos="0.18791 -0.00017 -0.00912" quat="-0.000587 0.726286 -0.003969 0.687381" mass="2.57968" diaginertia="0.016633 0.015078 0.003609" />
                                                <geom name="r_forearm" rgba="0.7 0.7 0.7 1" mesh="forearm" contype="0"/>
                                                <body name="r_wrist_flex_link" pos="0.321 0 0">
                                                    <inertial pos="-0.00157 0 -0.00075" quat="0.695976 0.696411 -0.123560 0.123942" mass="0.61402" diaginertia="0.000653 0.000643 0.000198" />
                                                    <geom name="geom39" rgba="0.7 0.7 0.7 1" mesh="wrist_flex" contype="0"/>
                                                    <body name="r_wrist_roll_link" pos="0 0 0">
                                                        <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />

                                                        <body name="r_gripper_palm_link" pos="0 0 0" childclass="gripper">
                                                            <inertial pos="0.06623 0.00053 -0.00119" quat="-0.018184 0.706274 0.016077 0.707523" mass="0.58007" diaginertia="0.000866 0.000678 0.000351" />
                                                            <geom name="geom41" rgba="0.7 0.7 0.7 1" mesh="gripper_palm" contype="0"/>

                                                            <body name="r_gripper_tool_frame" pos="0.18 0 0">
                                                                <inertial pos="0 0 0" mass="0.001" diaginertia="0.000000 0.000000 0.000000" />

                                                            </body>
                                                            <body name="r_gripper_l_finger_link" pos="0.07691 0.01 0">
                                                                <inertial pos="0.03598 0.0173 -0.00164" quat="0.574440 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.000198 0.000181 0.000077" />
                                                                <geom name="geom43" rgba="0.7 0.7 0.7 1" mesh="l_finger" />
                                                                <body name="r_gripper_l_finger_tip_link" pos="0.09137 0.00495 0">
                                                                    <inertial pos="0.00423 0.00284 0" quat="0.249588 0.661594 -0.249588 0.661594" mass="0.04419" diaginertia="0.000015 0.000015 0.000003" />
                                                                    <geom name="r_gripper_l_finger_tip" rgba="0.7 0.7 0.7 1" mesh="l_finger_tip" />
                                                                </body>
                                                            </body>
                                                            <body name="r_gripper_r_finger_link" pos="0.07691 -0.01 0">
                                                                <inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000199 0.000181 0.000077" />
                                                                <geom name="geom45" rgba="0.7 0.7 0.7 1" euler="3.14 0 0" mesh="l_finger" />
                                                                <body name="r_gripper_r_finger_tip_link" pos="0.09137 -0.00495 0">
                                                                    <inertial pos="0.00423 -0.00284 0" quat="-0.249588 0.661594 0.249588 0.661594" mass="0.04419" diaginertia="0.000015 0.000015 0.000003" />
                                                                    <geom name="r_gripper_r_finger_tip" euler="3.14 0 0" rgba="0.7 0.7 0.7 1" mesh="l_finger_tip" />
                                                                </body>
                                                            </body>

                                                        </body>
                                                    </body>
                                                </body>
                                            </body>

                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>

            </body>
        </body>

        <!-- humanoid 1 -->
        <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
        <body name="H1_torso" pos="-5. -1 1.4">
            <joint armature="0" damping="0" limited="false" name="H1_root" pos="0 0 0" stiffness="0" type="free"/>
            <geom fromto="0 -.07 0 0 .07 0" name="H1_torso1" size="0.07" type="capsule"/>
            <geom name="H1_head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="H1_uwaist" size="0.06" type="capsule"/>
            <body name="H1_lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
                <geom fromto="0 -.06 0 0 .06 0" name="H1_lwaist" size="0.06" type="capsule"/>
                <joint armature="0.02" axis="0 0 1" damping="5" name="H1_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="H1_abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
                <body name="H1_pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
                    <joint armature="0.02" axis="1 0 0" damping="5" name="H1_abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="H1_butt" size="0.09" type="capsule"/>
                    <body name="H1_right_thigh" pos="0 -0.1 -0.04">
                        <joint armature="0.01" axis="1 0 0" damping="5" name="H1_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="H1_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="H1_right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
                        <geom fromto="0 0 0 0 0.01 -.34" name="H1_right_thigh1" size="0.06" type="capsule"/>
                        <body name="H1_right_shin" pos="0 0.01 -0.403">
                            <joint armature="0.0060" axis="0 -1 0" name="H1_right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
                            <geom fromto="0 0 0 0 0 -.3" name="H1_right_shin1" size="0.049" type="capsule"/>
                            <body name="H1_right_foot" pos="0 0 -0.45">
                                <geom name="H1_right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
                            </body>
                        </body>
                    </body>
                    <body name="H1_left_thigh" pos="0 0.1 -0.04">
                        <joint armature="0.01" axis="-1 0 0" damping="5" name="H1_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="H1_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="H1_left_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
                        <geom fromto="0 0 0 0 -0.01 -.34" name="H1_left_thigh1" size="0.06" type="capsule"/>
                        <body name="H1_left_shin" pos="0 -0.01 -0.403">
                            <joint armature="0.0060" axis="0 -1 0" name="H1_left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
                            <geom fromto="0 0 0 0 0 -.3" name="H1_left_shin1" size="0.049" type="capsule"/>
                            <body name="H1_left_foot" pos="0 0 -0.45">
                                <geom name="H1_left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="H1_right_upper_arm" pos="0 -0.17 0.06">
                <joint armature="0.0068" axis="2 1 1" name="H1_right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
                <joint armature="0.0051" axis="0 -1 1" name="H1_right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
                <geom fromto="0 0 0 .16 -.16 -.16" name="H1_right_uarm1" size="0.04 0.16" type="capsule"/>
                <body name="H1_right_lower_arm" pos=".18 -.18 -.18">
                    <joint armature="0.0028" axis="0 -1 1" name="H1_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="H1_right_larm" size="0.031" type="capsule"/>
                    <geom name="H1_right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
                </body>
            </body>
            <body name="H1_left_upper_arm" pos="0 0.17 0.06">
                <joint armature="0.0068" axis="2 -1 1" name="H1_left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
                <joint armature="0.0051" axis="0 1 1" name="H1_left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
                <geom fromto="0 0 0 .16 .16 -.16" name="H1_left_uarm1" size="0.04 0.16" type="capsule"/>
                <body name="H1_left_lower_arm" pos=".18 .18 -.18">
                    <joint armature="0.0028" axis="0 -1 -1" name="H1_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="H1_left_larm" size="0.031" type="capsule"/>
                    <geom name="H1_left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
                </body>
            </body>
        </body>


    <!-- humanoid 2 -->
        <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
        <body name="H2_torso" pos="-3 0.5 1.4">
            <joint armature="0" damping="0" limited="false" name="H2_root" pos="0 0 0" stiffness="0" type="free"/>
            <geom fromto="0 -.07 0 0 .07 0" name="H2_torso1" size="0.07" type="capsule"/>
            <geom name="H2_head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
            <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="H2_uwaist" size="0.06" type="capsule"/>
            <body name="H2_lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
                <geom fromto="0 -.06 0 0 .06 0" name="H2_lwaist" size="0.06" type="capsule"/>
                <joint armature="0.02" axis="0 0 1" damping="5" name="H2_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="H2_abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
                <body name="H2_pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
                    <joint armature="0.02" axis="1 0 0" damping="5" name="H2_abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
                    <geom fromto="-.02 -.07 0 -.02 .07 0" name="H2_butt" size="0.09" type="capsule"/>
                    <body name="H2_right_thigh" pos="0 -0.1 -0.04">
                        <joint armature="0.01" axis="1 0 0" damping="5" name="H2_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="H2_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="H2_right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
                        <geom fromto="0 0 0 0 0.01 -.34" name="H2_right_thigh1" size="0.06" type="capsule"/>
                        <body name="H2_right_shin" pos="0 0.01 -0.403">
                            <joint armature="0.0060" axis="0 -1 0" name="H2_right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
                            <geom fromto="0 0 0 0 0 -.3" name="H2_right_shin1" size="0.049" type="capsule"/>
                            <body name="H2_right_foot" pos="0 0 -0.45">
                                <geom name="H2_right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
                            </body>
                        </body>
                    </body>
                    <body name="H2_left_thigh" pos="0 0.1 -0.04">
                        <joint armature="0.01" axis="-1 0 0" damping="5" name="H2_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="H2_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="H2_left_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
                        <geom fromto="0 0 0 0 -0.01 -.34" name="H2_left_thigh1" size="0.06" type="capsule"/>
                        <body name="H2_left_shin" pos="0 -0.01 -0.403">
                            <joint armature="0.0060" axis="0 -1 0" name="H2_left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
                            <geom fromto="0 0 0 0 0 -.3" name="H2_left_shin1" size="0.049" type="capsule"/>
                            <body name="H2_left_foot" pos="0 0 -0.45">
                                <geom name="H2_left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <body name="H2_right_upper_arm" pos="0 -0.17 0.06">
                <joint armature="0.0068" axis="2 1 1" name="H2_right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
                <joint armature="0.0051" axis="0 -1 1" name="H2_right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
                <geom fromto="0 0 0 .16 -.16 -.16" name="H2_right_uarm1" size="0.04 0.16" type="capsule"/>
                <body name="H2_right_lower_arm" pos=".18 -.18 -.18">
                    <joint armature="0.0028" axis="0 -1 1" name="H2_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="H2_right_larm" size="0.031" type="capsule"/>
                    <geom name="H2_right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
                </body>
            </body>
            <body name="H2_left_upper_arm" pos="0 0.17 0.06">
                <joint armature="0.0068" axis="2 -1 1" name="H2_left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
                <joint armature="0.0051" axis="0 1 1" name="H2_left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
                <geom fromto="0 0 0 .16 .16 -.16" name="H2_left_uarm1" size="0.04 0.16" type="capsule"/>
                <body name="H2_left_lower_arm" pos=".18 .18 -.18">
                    <joint armature="0.0028" axis="0 -1 -1" name="H2_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="H2_left_larm" size="0.031" type="capsule"/>
                    <geom name="H2_left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
                </body>
            </body>
        </body>

        <!-- Ant 1 -->
       <body name="A1_torso" pos="-2 1.25 0.75">
      <geom name="A1_torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
      <joint armature="0" damping="0" limited="false" margin="0.01" name="A1_root" pos="0 0 0" type="free"/>
      <body name="A1_front_left_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="A1_aux_1_geom" size="0.08" type="capsule"/>
        <body name="A1_aux_1" pos="0.2 0.2 0">
          <joint axis="0 0 1" name="A1_hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="A1_left_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.2 0.2 0">
            <joint axis="-1 1 0" name="A1_ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="A1_left_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="A1_front_right_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="A1_aux_2_geom" size="0.08" type="capsule"/>
        <body name="A1_aux_2" pos="-0.2 0.2 0">
          <joint axis="0 0 1" name="A1_hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="A1_right_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 0.2 0">
            <joint axis="1 1 0" name="A1_ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="A1_right_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="A1_back_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="A1_aux_3_geom" size="0.08" type="capsule"/>
        <body name="A1_aux_3" pos="-0.2 -0.2 0">
          <joint axis="0 0 1" name="A1_hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="A1_A1_back_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 -0.2 0">
            <joint axis="-1 1 0" name="A1_ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="A1_third_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="A1_right_back_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="A1_aux_4_geom" size="0.08" type="capsule"/>
        <body name="A1_aux_4" pos="0.2 -0.2 0">
          <joint axis="0 0 1" name="A1_hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="A1_rightback_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.2 -0.2 0">
            <joint axis="1 1 0" name="A1_ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="A1_fourth_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
    </body>


     <!-- Ant 2 -->
    <body name="A2_torso" pos="-1.5 -1 0.75">
      <geom name="A2_torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
      <joint armature="0" damping="0" limited="false" margin="0.01" name="A2_root" pos="0 0 0" type="free"/>
      <body name="A2_front_left_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="A2_aux_1_geom" size="0.08" type="capsule"/>
        <body name="A2_aux_1" pos="0.2 0.2 0">
          <joint axis="0 0 1" name="A2_hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="A2_left_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.2 0.2 0">
            <joint axis="-1 1 0" name="A2_ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="A2_left_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="A2_front_right_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="A2_aux_2_geom" size="0.08" type="capsule"/>
        <body name="A2_aux_2" pos="-0.2 0.2 0">
          <joint axis="0 0 1" name="A2_hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="A2_right_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 0.2 0">
            <joint axis="1 1 0" name="A2_ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="A2_right_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="A2_back_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="A2_aux_3_geom" size="0.08" type="capsule"/>
        <body name="A2_aux_3" pos="-0.2 -0.2 0">
          <joint axis="0 0 1" name="A2_hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="A2_back_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 -0.2 0">
            <joint axis="-1 1 0" name="A2_ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="A2_third_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="A2_right_back_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="A2_aux_4_geom" size="0.08" type="capsule"/>
        <body name="A2_aux_4" pos="0.2 -0.2 0">
          <joint axis="0 0 1" name="A2_hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="A2_rightback_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.2 -0.2 0">
            <joint axis="1 1 0" name="A2_ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="A2_fourth_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
    </body>

            <!-- Cheetah 1 -->
         <body name="C1_torso" pos="-4 0 .7">
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="C1_rootx" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="C1_rootz" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="C1_rooty" pos="0 0 0" stiffness="0" type="hinge"/>
      <geom fromto="-.5 0 0 .5 0 0" name="C1_C1_torso" size="0.046" type="capsule"/>
      <geom axisangle="0 1 0 .87" name="C1_head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
      <!-- <site name='C1_tip'  pos='.15 0 .11'/>-->
      <body name="C1_bthigh" pos="-.5 0 0">
        <joint axis="0 1 0" damping="6" name="C1_bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
        <geom axisangle="0 1 0 -3.8" name="C1_bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
        <body name="C1_bshin" pos=".16 0 -.25">
          <joint axis="0 1 0" damping="4.5" name="C1_bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
          <geom axisangle="0 1 0 -2.03" name="C1_bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
          <body name="C1_bfoot" pos="-.28 0 -.14">
            <joint axis="0 1 0" damping="3" name="C1_bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
            <geom axisangle="0 1 0 -.27" name="C1_bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="C1_fthigh" pos=".5 0 0">
        <joint axis="0 1 0" damping="4.5" name="C1_fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
        <geom axisangle="0 1 0 .52" name="C1_fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
        <body name="C1_fshin" pos="-.14 0 -.24">
          <joint axis="0 1 0" damping="3" name="C1_fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
          <geom axisangle="0 1 0 -.6" name="C1_fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
          <body name="C1_ffoot" pos=".13 0 -.18">
            <joint axis="0 1 0" damping="1.5" name="C1_ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
            <geom axisangle="0 1 0 -.6" name="C1_ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
          </body>
        </body>
      </body>
    </body>

            <!-- Cheetah 2 -->
     <body name="C2_torso" pos="-1 1.4 .7">
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="C2_rootx" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="C2_rootz" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="C2_rooty" pos="0 0 0" stiffness="0" type="hinge"/>
      <geom fromto="-.5 0 0 .5 0 0" name="C2_torso" size="0.046" type="capsule"/>
      <geom axisangle="0 1 0 .87" name="C2_head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
      <!-- <site name='C2_tip'  pos='.15 0 .11'/>-->
      <body name="C2_bthigh" pos="-.5 0 0">
        <joint axis="0 1 0" damping="6" name="C2_bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
        <geom axisangle="0 1 0 -3.8" name="C2_bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
        <body name="C2_bshin" pos=".16 0 -.25">
          <joint axis="0 1 0" damping="4.5" name="C2_bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
          <geom axisangle="0 1 0 -2.03" name="C2_bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
          <body name="C2_bfoot" pos="-.28 0 -.14">
            <joint axis="0 1 0" damping="3" name="C2_bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
            <geom axisangle="0 1 0 -.27" name="C2_bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="C2_fthigh" pos=".5 0 0">
        <joint axis="0 1 0" damping="4.5" name="C2_fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
        <geom axisangle="0 1 0 .52" name="C2_fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
        <body name="C2_fshin" pos="-.14 0 -.24">
          <joint axis="0 1 0" damping="3" name="C2_fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
          <geom axisangle="0 1 0 -.6" name="C2_fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
          <body name="C2_ffoot" pos=".13 0 -.18">
            <joint axis="0 1 0" damping="1.5" name="C2_ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
            <geom axisangle="0 1 0 -.6" name="C2_ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
          </body>
        </body>
      </body>
    </body>


        <!-- Cheetah 3 -->
     <body name="C3_torso" pos="-0.5 0.75 .7">
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="C3_rootx" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="C3_rootz" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="C3_rooty" pos="0 0 0" stiffness="0" type="hinge"/>
      <geom fromto="-.5 0 0 .5 0 0" name="C3_torso" size="0.046" type="capsule"/>
      <geom axisangle="0 1 0 .87" name="C3_head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
      <!-- <site name='C3_tip'  pos='.15 0 .11'/>-->
      <body name="C3_bthigh" pos="-.5 0 0">
        <joint axis="0 1 0" damping="6" name="C3_bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
        <geom axisangle="0 1 0 -3.8" name="C3_bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
        <body name="C3_bshin" pos=".16 0 -.25">
          <joint axis="0 1 0" damping="4.5" name="C3_bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
          <geom axisangle="0 1 0 -2.03" name="C3_bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
          <body name="C3_bfoot" pos="-.28 0 -.14">
            <joint axis="0 1 0" damping="3" name="C3_bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
            <geom axisangle="0 1 0 -.27" name="C3_bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="C3_fthigh" pos=".5 0 0">
        <joint axis="0 1 0" damping="4.5" name="C3_fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
        <geom axisangle="0 1 0 .52" name="C3_fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
        <body name="C3_fshin" pos="-.14 0 -.24">
          <joint axis="0 1 0" damping="3" name="C3_fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
          <geom axisangle="0 1 0 -.6" name="C3_fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
          <body name="C3_ffoot" pos=".13 0 -.18">
            <joint axis="0 1 0" damping="1.5" name="C3_ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
            <geom axisangle="0 1 0 -.6" name="C3_ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
          </body>
        </body>
      </body>
    </body>


                <!-- Cheetah 4 -->
     <body name="C4_torso" pos="-2.5 -2 .7">
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="C4_rootx" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="C4_rootz" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="C4_rooty" pos="0 0 0" stiffness="0" type="hinge"/>
      <geom fromto="-.5 0 0 .5 0 0" name="C4_torso" size="0.046" type="capsule"/>
      <geom axisangle="0 1 0 .87" name="C4_head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
      <!-- <site name='C4_tip'  pos='.15 0 .11'/>-->
      <body name="C4_bthigh" pos="-.5 0 0">
        <joint axis="0 1 0" damping="6" name="C4_bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
        <geom axisangle="0 1 0 -3.8" name="C4_bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
        <body name="C4_bshin" pos=".16 0 -.25">
          <joint axis="0 1 0" damping="4.5" name="C4_bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
          <geom axisangle="0 1 0 -2.03" name="C4_bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
          <body name="C4_bfoot" pos="-.28 0 -.14">
            <joint axis="0 1 0" damping="3" name="C4_bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
            <geom axisangle="0 1 0 -.27" name="C4_bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="C4_fthigh" pos=".5 0 0">
        <joint axis="0 1 0" damping="4.5" name="C4_fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
        <geom axisangle="0 1 0 .52" name="C4_fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
        <body name="C4_fshin" pos="-.14 0 -.24">
          <joint axis="0 1 0" damping="3" name="C4_fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
          <geom axisangle="0 1 0 -.6" name="C4_fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
          <body name="C4_ffoot" pos=".13 0 -.18">
            <joint axis="0 1 0" damping="1.5" name="C4_ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
            <geom axisangle="0 1 0 -.6" name="C4_ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
          </body>
        </body>
      </body>
    </body>

<body name="goal" pos=".55 0.3 1.">
    <geom name="goal" pos="0 0 0" rgba="1 0 0 1" type="sphere" size="0.05"/>
</body>


    </worldbody>



<actuator>
    <motor joint="l_shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
    <motor joint="l_shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
    <motor joint="l_upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
    <motor joint="l_elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
    <motor joint="l_forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
    <motor joint="l_wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
    <motor joint="l_wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
</actuator>

</mujoco>
