<mujoco model="Asimov_legs">
  <compiler angle="radian" meshdir="../assets/meshes" autolimits="true" />

<default>

  <joint frictionloss="0" />

  <default class="motor">
    <joint damping="0" />
  </default>




  <default class="passive_upper">
    <joint damping="15.0" stiffness="80.0" springref="0" />
  </default>

  <default class="visual">
    <geom material="visual_grey" contype="0" conaffinity="0" group="2" />
  </default>

  <default class="collision">
    <geom group="3" rgba=".2 .6 .2 .3" type="capsule" contype="1" conaffinity="1" />
    <default class="foot_capsule">
      <geom type="capsule" size="0.01" />
    </default>
    <default class="body_capsule">
      <geom type="capsule" size="0.05" />
    </default>
  </default>
</default>

  <visual>
    <global offwidth="1920" offheight="1080" />
  </visual>

  <asset>
    <material name="visual_grey" rgba="0.7 0.7 0.7 1.0" />
    <material name="collision_grey" rgba="0.5 0.5 0.5 0.5" />
    <texture type="skybox" builtin="flat" rgb1="0 0 0" rgb2="0 0 0" width="512" height="3072" />
    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512" />
    <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
    <material name="material" rgba="0.75294 0.75294 0.75294 1" />
    <material name="collision_material" rgba="1.0 0.28 0.1 0.9" />

    </asset>

  <worldbody>

    <light pos="1 0 3.5" dir="0 0 -1" directional="true" />
    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" />
    <light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false" />
    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1" />

    <body name="pelvis_link" pos="-8 -4.6 .63" quat="1 0 0 0">
      <freejoint name="floating_base" />
      <site name="imu_in_pelvis" size="0.01" pos="-0.05 0 0.08" />
      <inertial pos="-0.0540918323179141 -3.48259522403486E-05 -0.0156255182184312" mass="3.50691251175897" fullinertia="0.00552189690363016 0.00626668820315558 0.00504655399919599 4.55841164433384E-06 -7.80273388403568E-05 1.10177467151231E-07" />
      <geom name="pelvis_collision" class="body_capsule" fromto="-0.04 0 0.025 -0.04 0 -0.05" size="0.04" />
      <body name="left_hip_pitch_link" pos="-0.052 0.0675 -0.044045" quat="1.0 0.0 0.0 0.0">
        <joint name="left_hip_pitch_joint" type="hinge" ref="0.0" class="motor" range="-2.094395 1" axis="0 1 0" armature="0.095625" />
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          <joint name="left_hip_roll_joint" type="hinge" ref="0.0" class="motor" range="-0.785398 0.785398" axis="1 0 0" armature="0.11" />
          <inertial pos="-0.0115541390699202 -0.000334827946236529 -0.0294101852668513" mass="0.414368139397033" fullinertia="0.000265394006141893 0.000357453871035062 0.000234474271498986 2.21514388143389E-06 -0.000115781041690773 2.9843892878895E-06" />

          <body name="left_hip_yaw_link" pos="-0.0422499999999954 0 -0.0520000000000006" quat="1.0 0.0 0.0 0.0">
            <joint name="left_hip_yaw_joint" type="hinge" ref="0.0" class="motor" range="-0.785398 0.785398" axis="0 0 -1" armature="0.038" />
            <inertial pos="0.00107948196019631 0.00102490074879569 -0.120338859084698" mass="1.86657016436158" fullinertia="0.00341632805787578 0.00356015908770306 0.00137524372110325 1.12872344062739E-05 2.89779048114687E-05 -0.000119761895425219" />
            <geom name="left_hip_yaw_link_collision" class="body_capsule" fromto="0 0 -0.05 0 0 -0.12" size="0.04" />
            <body name="left_knee_link" pos="0 0 -0.195639999999998" quat="1.0 0.0 0.0 0.0">
              <joint name="left_knee_joint" type="hinge" ref="0.0" class="motor" range="0 1.5" axis="0 1 0" armature="0.0339552" />
              <inertial pos="-0.000500664455004187 0.000509289489479564 -0.11269288769412" mass="2.39114151033076" fullinertia="0.00962172060189828 0.00975314356560942 0.00233095236940007 9.87646392241852E-06 -0.000645140055016828 -7.94058135611557E-06" />
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              <body name="left_ankle_pitch_link" pos="0 0 -0.294662336087024" quat="1.0 0.0 0.0 0.0">
                <joint name="left_ankle_pitch_joint" type="hinge" ref="0.0" class="motor" range="-0.35 0.35" axis="0 1 0" armature="0.0565056" />
                <inertial pos="-0.00117927040588633 -3.07019113465756E-08 -0.00617619235424882" mass="0.273090119400173" fullinertia="6.4266131977376E-05 8.09944211394154E-05 4.71927841328634E-05 -2.40573155297429E-10 -1.07534511935557E-06 -2.30560104829896E-10" />

                <body name="left_ankle_roll_link" pos="-0.00149999999999975 0 -0.00999999200000223" quat="1.0 0.0 0.0 0.0">
                  <joint name="left_ankle_roll_joint" type="hinge" ref="0.0" class="motor" range="-0.2 0.2" axis="-1 0 0" armature="0.0565056" />
                  <inertial pos="0.0427499381311452 0.00159257307585033 -0.013245065948313" mass="0.405640437504617" fullinertia="0.000176487912025914 0.000413325911157839 0.000531913025014091 1.27462095049061E-05 -1.32327317762052E-05 5.53283535966561E-06" />
                  <site name="left_foot" pos="0.04 0 -0.025" />
                  <geom name="left_foot1_collision" class="foot_capsule" fromto="0.06 -0.03 -0.022 0.09 -0.035 -0.022" />
                  <geom name="left_foot2_collision" class="foot_capsule" fromto="-0.035 -0.015 -0.022 0.09 -0.015 -0.022" />
                  <geom name="left_foot3_collision" class="foot_capsule" fromto="-0.035 0.0 -0.022 0.09 0.0 -0.022" />
                  <geom name="left_foot4_collision" class="foot_capsule" fromto="-0.035 0.015 -0.022 0.09 0.015 -0.022" />
                  <geom name="left_foot6_collision" class="foot_capsule" fromto="0.0 0.03 -0.022 0.09 0.035 -0.022" />
                  <body name="left_toe_link" pos="0.10253 -0.0043664 -0.0067324" quat="1.0 0.0 0.0 0.0">


                      <inertial pos="0.0320167773761624 0.000718248511968056 -0.0141312773022902" quat="1.0 0.0 0.0 0.0" mass="0.112221237946844" diaginertia="5.5351925218088e-05 3.65130809524718e-05 8.54029969529202e-05" />
                      <geom name="left_toe1_collision" class="foot_capsule" fromto="0.01 -0.03 -0.018 0.04 -0.03 -0.018" />
                      <geom name="left_toe2_collision" class="foot_capsule" fromto="0.01 -0.015 -0.018 0.055 -0.015 -0.018" />
                      <geom name="left_toe3_collision" class="foot_capsule" fromto="0.01 0.0 -0.018 0.06 0 -0.018" />
                      <geom name="left_toe4_collision" class="foot_capsule" fromto="0.01 0.02 -0.018 0.055 0.02 -0.018" />
                      <geom name="left_toe5_collision" class="foot_capsule" fromto="0.01 0.04 -0.018 0.04 0.04 -0.018" />
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                </body>
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      </body>


      <body name="right_hip_pitch_link" pos="-0.0519999999999999 -0.0675 -0.0440449999999999" quat="1.0 0.0 0.0 0.0">
        <joint name="right_hip_pitch_joint" type="hinge" ref="0.0" class="motor" range="-1 2.094395" axis="0 -1 0" armature="0.095625" />
        <inertial pos="0.00172891543963928 -0.0360560777469901 0.000568830845064178" mass="1.05629742879001" fullinertia="0.000692329136191241 0.00081258255865219 0.000753384108654712 3.57650372725171E-05 1.84099820196341E-06 -1.20075387086281E-05" />
        <geom name="right_hip_pitch_link_collision" class="body_capsule" fromto="0 -0.02 0 0 -0.04 0" size="0.04" />
        <body name="right_hip_roll_link" pos="0.04225 -0.04 0" quat="1.0 0.0 0.0 0.0">
          <joint name="right_hip_roll_joint" type="hinge" ref="0.0" class="motor" range="-0.785398 0.785398" axis="1 0 0" armature="0.11" />
          <inertial pos="-0.0115435673741928 0.000361458713869084 -0.0293858908276063" mass="0.414825000619808" fullinertia="0.000265893227185752 0.000357734750091647 0.000234803924170236 -2.33135893268163E-06 -0.000115883966141926 -3.23262089994153E-06" />

          <body name="right_hip_yaw_link" pos="-0.0422499999999986 0 -0.0520000000000019" quat="1.0 0.0 0.0 0.0">
            <joint name="right_hip_yaw_joint" type="hinge" ref="0.0" class="motor" range="-0.785398 0.785398" axis="0 0 -1" armature="0.038" />
            <inertial pos="0.0010759524804974 -0.00102176499629938 -0.120345116027848" mass="1.86647220449567" fullinertia="0.00341588734528233 0.00355990015451682 0.00137525272174267 -1.17597783272228E-05 2.91733595327906E-05 0.00011971567133214" />
            <geom name="right_hip_yaw_link_collision" class="body_capsule" fromto="0 0 -0.05 0 0 -0.12" size="0.04" />
            <body name="right_knee_link" pos="0 0 -0.195639999999998" quat="1.0 0.0 0.0 0.0">
              <joint name="right_knee_joint" type="hinge" ref="0.0" class="motor" range="-1.5 0" axis="0 -1 0" armature="0.0339552" />
              <inertial pos="-0.000497587233719177 -0.000414757224949908 -0.112692693562372" mass="2.39110172735043" fullinertia="0.00962148213806552 0.00975287238047396 0.0023309035826248 -9.87527823922245E-06 -0.00064509471825313 7.98431367388265E-06" />
              <geom name="right_knee_link_collision" class="body_capsule" fromto="0 0 -0.04 0 0 -0.22" size="0.04" />
              <body name="right_ankle_pitch_link" pos="0 9.99999999979628E-05 -0.294662336087023" quat="1.0 0.0 0.0 0.0">
                <joint name="right_ankle_pitch_joint" type="hinge" ref="0.0" class="motor" range="-0.35 0.35" axis="0 -1 0" armature="0.0565056" />
                <inertial pos="-0.0011793692600079 6.86716864900516E-08 -0.00617614582815973" mass="0.27308917159726" fullinertia="6.42659452121946E-05 8.0994434836127E-05 4.71926012791403E-05 -1.02281345760111E-10 -1.07558770084606E-06 3.52701184357211E-10" />

                <body name="right_ankle_roll_link" pos="-0.0015 0 -0.00999999200000001" quat="1.0 0.0 0.0 0.0">
                  <joint name="right_ankle_roll_joint" type="hinge" ref="0.0" class="motor" range="-0.2 0.2" axis="-1 0 0" armature="0.0565056" />
                  <inertial pos="0.037604624066622 -0.00113270119001645 -0.0120667519779089" mass="0.405640437504617" fullinertia="0.000186422034243703 0.000416154288220916 0.00053831651520468 -1.26826355108374E-05 -1.31347174356107E-05 -5.51984757483379E-06" />
                  <site name="right_foot" pos="0.04 0 -0.025" />
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                  <body name="right_toe_link" pos="0.10247 0.0042796 -0.0067324" quat="1.0 0.0 0.0 0.0">


                      <inertial pos="0.0320141754360937 -0.000816708013105544 -0.0141309094649689" quat="1.0 0.0 0.0 0.0" mass="0.112221754054884" diaginertia="5.5358948695321e-05 3.65052769951383e-05 8.54017357052965e-05" />
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                      <geom name="right_toe5_collision" class="foot_capsule" fromto="0.01 0.03 -0.018 0.04 0.03 -0.018" />
                  </body>

                </body>
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      <body name="waist_yaw_link" pos="-0.052 0 0.074755" quat="1.0 0.0 0.0 0.0">
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          <body name="neck_pitch_link" pos="0 0 0.0373499999999998" quat="1.0 0.0 0.0 0.0">
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        <body name="right_shoulder_pitch_link" pos="-0.0262128253533167 -0.0964999999999998 0.261140483320038" quat="1.0 0.0 0.0 0.0">
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              <body name="left_elbow_link" pos="0 0 -0.0963013000001065" quat="1.0 0.0 0.0 0.0">
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      <site name="pelvis_site" pos="-0.05 0 0" quat="1 0 0 0" />
      <camera name="front_camera" mode="track" fovy="60.0" quat="0.5 0.5 0.5 0.5" pos="2.5 0.0 0.7" />
      <camera name="side_camera" mode="track" fovy="45.0" quat="0.368 0.295 -0.552 -0.688" pos="-3.0 2.0 1.5" />
      <camera name="back_camera" mode="track" fovy="60.0" quat="0.533 0.465 -0.465 -0.533" pos="-4.0 0.0 1.2" />
      <camera name="direct_side_camera" mode="track" fovy="60.0" quat="0.707 0.707 0 0" pos="0 -3.0 0.7" />
      <camera name="direct_behind_camera" mode="track" fovy="60.0" quat="0.5 0.5 -0.5 -0.5" pos="-3.0 0 0.7" />
    </body>
  <geom name="step_0" type="box" pos="-0.365 0 0.3225" size="0.145 3.51 0.3225" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="step_1" type="box" pos="-0.624 0 0.2495" size="0.145 3.51 0.2495" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="step_2" type="box" pos="-0.883 0 0.17650000000000002" size="0.145 3.51 0.17650000000000002" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="step_3" type="box" pos="-1.142 0 0.10350000000000004" size="0.145 3.51 0.10350000000000004" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="black_fence_closed_gate" type="box" pos="-10.6 -9.35 0.75" size="10.4 0.035 0.75" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_0" type="box" pos="-12.51 0.30499999999999994 0.225" size="7.790000000000001 3.5250000000000004 0.225" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_1" type="box" pos="-12.8 -4.6450000000000005 0.225" size="1.83 1.2950000000000002 0.225" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_2" type="box" pos="-17.825000000000003 -6.525 0.55" size="1.2249999999999996 0.9750000000000001 0.55" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_3" type="box" pos="-20.075 -5.185 0.55" size="0.875 0.915 0.55" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_4" type="box" pos="-5.7 -7.050000000000001 0.225" size="0.45999999999999996 1.0000000000000004 0.225" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_5" type="box" pos="-7.15 -7.050000000000001 0.225" size="0.45999999999999996 1.0000000000000004 0.225" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_6" type="box" pos="-8.6 -7.050000000000001 0.225" size="0.46000000000000085 1.0000000000000004 0.225" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_7" type="box" pos="-10.05 -7.050000000000001 0.225" size="0.46000000000000085 1.0000000000000004 0.225" friction=".8 .02 .002" rgba=".3 .45 .45 .25" /><geom name="obstacle_8" type="box" pos="-11.4 -7.275 0.225" size="0.3200000000000003 0.625 0.225" friction=".8 .02 .002" rgba=".3 .45 .45 .25" />
<!-- BEGIN PROP COLLIDERS -->
<body name="prop_towel-1" pos="-8.6 -6.18 0.54"><freejoint name="prop_towel-1_free"/><geom type="box" size=".16 .125 .0325" mass=".2" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/></body>
<body name="prop_towel-2" pos="-5.7 -6.18 0.54"><freejoint name="prop_towel-2_free"/><geom type="box" size=".16 .125 .0325" mass=".2" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/></body>
<body name="prop_toy-ball" pos="-7 -4.65 0.18"><freejoint name="prop_toy-ball_free"/><geom type="sphere" size=".17" mass=".25" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/></body>
<body name="prop_toy-ring" pos="-4 -6.5 0.1"><freejoint name="prop_toy-ring_free"/><geom type="capsule" fromto="0.16 0 0 0.147821 0.061229 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="0.147821 0.061229 0 0.113137 0.113137 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="0.113137 0.113137 0 0.061229 0.147821 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="0.061229 0.147821 0 0 0.16 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="0 0.16 0 -0.061229 0.147821 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="-0.061229 0.147821 0 -0.113137 0.113137 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="-0.113137 0.113137 0 -0.147821 0.061229 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="-0.147821 0.061229 0 -0.16 0 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="-0.16 0 0 -0.147821 -0.061229 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="-0.147821 -0.061229 0 -0.113137 -0.113137 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="-0.113137 -0.113137 0 -0.061229 -0.147821 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="-0.061229 -0.147821 0 0 -0.16 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="0 -0.16 0 0.061229 -0.147821 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="0.061229 -0.147821 0 0.113137 -0.113137 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="0.113137 -0.113137 0 0.147821 -0.061229 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="capsule" fromto="0.147821 -0.061229 0 0.16 0 0" size=".045" mass=".025" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/></body>
<body name="prop_toy-duck" pos="-3.3 4.5 0.13"><freejoint name="prop_toy-duck_free"/><geom type="ellipsoid" size=".156 .104 .091" mass=".12" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom type="sphere" pos=".1 0 .09" size=".07" mass=".03" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/></body>
<geom name="prop_basket_base" type="cylinder" pos="-3 -5 .02" size=".26 .02" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_0" type="capsule" fromto="-2.75 -5 .04 -2.7 -5 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_1" type="capsule" fromto="-2.762236 -4.922746 .04 -2.714683 -4.907295 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_2" type="capsule" fromto="-2.797746 -4.853054 .04 -2.757295 -4.823664 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_3" type="capsule" fromto="-2.853054 -4.797746 .04 -2.823664 -4.757295 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_4" type="capsule" fromto="-2.922746 -4.762236 .04 -2.907295 -4.714683 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_5" type="capsule" fromto="-3 -4.75 .04 -3 -4.7 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_6" type="capsule" fromto="-3.077254 -4.762236 .04 -3.092705 -4.714683 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_7" type="capsule" fromto="-3.146946 -4.797746 .04 -3.176336 -4.757295 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_8" type="capsule" fromto="-3.202254 -4.853054 .04 -3.242705 -4.823664 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_9" type="capsule" fromto="-3.237764 -4.922746 .04 -3.285317 -4.907295 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_10" type="capsule" fromto="-3.25 -5 .04 -3.3 -5 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_11" type="capsule" fromto="-3.237764 -5.077254 .04 -3.285317 -5.092705 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_12" type="capsule" fromto="-3.202254 -5.146946 .04 -3.242705 -5.176336 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_13" type="capsule" fromto="-3.146946 -5.202254 .04 -3.176336 -5.242705 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_14" type="capsule" fromto="-3.077254 -5.237764 .04 -3.092705 -5.285317 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_15" type="capsule" fromto="-3 -5.25 .04 -3 -5.3 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_16" type="capsule" fromto="-2.922746 -5.237764 .04 -2.907295 -5.285317 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_17" type="capsule" fromto="-2.853054 -5.202254 .04 -2.823664 -5.242705 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_18" type="capsule" fromto="-2.797746 -5.146946 .04 -2.757295 -5.176336 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/><geom name="prop_basket_wall_19" type="capsule" fromto="-2.762236 -5.077254 .04 -2.714683 -5.092705 .55" size=".027" contype="1" conaffinity="1" friction="0.7 0.01 0.002" condim="4"/>
<!-- END PROP COLLIDERS -->
</worldbody>



  <contact>
    <exclude body1="pelvis_link" body2="right_hip_pitch_link" />
    <exclude body1="right_hip_pitch_link" body2="right_hip_roll_link" />
    <exclude body1="right_hip_roll_link" body2="right_hip_yaw_link" />
    <exclude body1="right_hip_yaw_link" body2="right_knee_link" />
    <exclude body1="right_knee_link" body2="right_ankle_pitch_link" />
    <exclude body1="right_ankle_pitch_link" body2="right_ankle_roll_link" />
    <exclude body1="right_ankle_roll_link" body2="right_toe_link" />
    <exclude body1="pelvis_link" body2="left_hip_pitch_link" />
    <exclude body1="left_hip_pitch_link" body2="left_hip_roll_link" />
    <exclude body1="left_hip_roll_link" body2="left_hip_yaw_link" />
    <exclude body1="left_hip_yaw_link" body2="left_knee_link" />
    <exclude body1="left_knee_link" body2="left_ankle_pitch_link" />
    <exclude body1="left_ankle_pitch_link" body2="left_ankle_roll_link" />
    <exclude body1="left_ankle_roll_link" body2="left_toe_link" />
    <exclude body1="pelvis_link" body2="waist_yaw_link" />
    <exclude body1="waist_yaw_link" body2="neck_yaw_link" />
    <exclude body1="neck_yaw_link" body2="neck_pitch_link" />
    <exclude body1="waist_yaw_link" body2="right_shoulder_pitch_link" />
    <exclude body1="right_shoulder_pitch_link" body2="right_shoulder_roll_link" />
    <exclude body1="right_shoulder_roll_link" body2="right_shoulder_yaw_link" />
    <exclude body1="right_shoulder_yaw_link" body2="right_elbow_link" />
    <exclude body1="right_elbow_link" body2="right_wrist_yaw_link" />
    <exclude body1="waist_yaw_link" body2="left_shoulder_pitch_link" />
    <exclude body1="left_shoulder_pitch_link" body2="left_shoulder_roll_link" />
    <exclude body1="left_shoulder_roll_link" body2="left_shoulder_yaw_link" />
    <exclude body1="left_shoulder_yaw_link" body2="left_elbow_link" />
    <exclude body1="left_elbow_link" body2="left_wrist_yaw_link" />
  </contact>


  <actuator>

    <motor name="left_hip_pitch" joint="left_hip_pitch_joint" ctrllimited="true" ctrlrange="-200 200" />
    <motor name="left_hip_roll" joint="left_hip_roll_joint" ctrllimited="true" ctrlrange="-200 200" />
    <motor name="left_hip_yaw" joint="left_hip_yaw_joint" ctrllimited="true" ctrlrange="-200 200" />
    <motor name="left_knee" joint="left_knee_joint" ctrllimited="true" ctrlrange="-300 300" />
    <motor name="left_ankle_pitch" joint="left_ankle_pitch_joint" ctrllimited="true" ctrlrange="-100 100" />
    <motor name="left_ankle_roll" joint="left_ankle_roll_joint" ctrllimited="true" ctrlrange="-100 100" />
    <motor name="right_hip_pitch" joint="right_hip_pitch_joint" ctrllimited="true" ctrlrange="-200 200" />
    <motor name="right_hip_roll" joint="right_hip_roll_joint" ctrllimited="true" ctrlrange="-200 200" />
    <motor name="right_hip_yaw" joint="right_hip_yaw_joint" ctrllimited="true" ctrlrange="-200 200" />
    <motor name="right_knee" joint="right_knee_joint" ctrllimited="true" ctrlrange="-300 300" />
    <motor name="right_ankle_pitch" joint="right_ankle_pitch_joint" ctrllimited="true" ctrlrange="-100 100" />
    <motor name="right_ankle_roll" joint="right_ankle_roll_joint" ctrllimited="true" ctrlrange="-100 100" />
  </actuator>

  <sensor>
    <gyro name="imu_ang_vel" site="imu_in_pelvis" />
    <velocimeter name="imu_lin_vel" site="imu_in_pelvis" />
    <accelerometer name="imu_lin_acc" site="imu_in_pelvis" />
    <framequat name="imu_quat" objtype="site" objname="imu_in_pelvis" />
    <subtreeangmom name="root_angmom" body="pelvis_link" />
  </sensor>


  <visual>
    <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0.9 0.9 0.9" />
    <rgba haze="0.15 0.25 0.35 1" />
    <global azimuth="-140" elevation="-20" />
  </visual>

<option timestep="0.001" /></mujoco>
