<mujoco model="Lite3">
  <default>
    <default class="robot">
      <default class="motor">
        <joint />
        <motor />
      </default>
      <default class="visual">
        <geom material="visualgeom" contype="0" conaffinity="0" group="2" />
      </default>
      <default class="collision">
        <geom material="collision_material" condim="3" contype="0" conaffinity="1" group="1" solref="0.005 1" friction="1 0.01 0.01" />
        <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
      </default>
    </default>
  </default>

  <compiler angle="radian" />
  <compiler autolimits="true"/>


  <asset>
    <material name="default_material" rgba="0.7 0.7 0.7 1" />
    <material name="collision_material" rgba="0.0 0.4 0.8 0.2" />
    <texture type="2d" name="checker" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.9 0.9 0.9" width="500" height="500"/>
    <material name="checker_mat" texture="checker" specular="1" shininess="1" texrepeat="15 15"/>
    <mesh name="torso.STL" file="../meshes/torso.STL" />
    <mesh name="fl_hip.STL" file="../meshes/hip.STL" />
    <mesh name="fl_thigh.STL" file="../meshes/thigh.STL" />
    <mesh name="fl_shank_collision.STL" file="../meshes/shank.STL" />
    <mesh name="fr_hip.STL" file="../meshes/hip.STL" />
    <mesh name="fr_thigh.STL" file="../meshes/thigh.STL" scale="1 -1 1"/>
    <mesh name="fr_shank_collision.STL" file="../meshes/shank.STL" />
    <mesh name="hl_hip.STL" file="../meshes/hip.STL" />
    <mesh name="hl_thigh.STL" file="../meshes/thigh.STL" />
    <mesh name="hl_shank_collision.STL" file="../meshes/shank.STL" />
    <mesh name="hr_hip.STL" file="../meshes/hip.STL" />
    <mesh name="hr_thigh.STL" file="../meshes/thigh.STL" scale="1 -1 1"/>
    <mesh name="hr_shank_collision.STL" file="../meshes/shank.STL" />
  </asset>

  <worldbody>


    <geom name="floor" type="plane" size="10 10 0.1" pos="0 0 0" material="checker_mat"/>
    <light directional="true" pos="-0.5 0.5 3" dir="0 0 -1"/>

    <body name="TORSO" pos="0 0. 1." quat="1 0 0 0" childclass="robot">
      <freejoint name="floating_base" />
      <site name="imu_site" pos="0 0 0" size="0.005" rgba="1 0 0 1"/>
      <inertial pos="0 0 0" mass="5.6056" diaginertia="0.02456 0.05518 0.07016"/>
      <geom name="TORSO_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="torso.STL" class="collision" />
      <geom name="TORSO_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="torso.STL" class="visual" />
      <body name="FL_HIP" pos="0.1745 0.062 0" quat="1.0 0.0 0.0 0.0">
        <joint name="FL_HipX_joint" type="hinge" ref="0.0" class="motor" range="-0.523 0.523" axis="-1 0 0" />
        <inertial pos="-0.00601 -0.0066532 0.00034295" quat="1.0 0.0 0.0 0.0" mass="0.550" diaginertia="0.0003949 0.0004028 0.0004472" />
        <geom name="FL_HIP_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="fl_hip.STL" class="collision" />
        <geom name="FL_HIP_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="fl_hip.STL" class="visual" />
        <body name="FL_THIGH" pos="0 0.09735 0" quat="1.0 0.0 0.0 0.0">
          <joint name="FL_HipY_joint" type="hinge" ref="0.0" class="motor" range="-2.67 0.314" axis="0 -1 0" />
          <inertial pos="-0.0039245 -0.014632 -0.025146" quat="1.0 0.0 0.0 0.0" mass="0.86" diaginertia="0.005736 0.00496 0.001436" />
          <geom name="FL_THIGH_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="fl_thigh.STL" class="collision" />
          <geom name="FL_THIGH_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="fl_thigh.STL" class="visual" />
          <body name="FL_SHANK" pos="0 0 -0.20" quat="1.0 0.0 0.0 0.0">
            <joint name="FL_Knee_joint" type="hinge" ref="0.0" class="motor" range="0.524 2.792" axis="0 -1 0" />
            <inertial pos="0.0064794 -1.4535E-06 -0.12157" quat="1.0 0.0 0.0 0.0" mass="0.153" diaginertia="0.00089039 0.00090672 3.1266e-05" />
            <geom name="FL_SHANK_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="fl_shank_collision.STL" class="collision" />
            <geom name="FL_SHANK_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="fl_shank_collision.STL" class="visual" />
            <body name="FL_FOOT" pos="0 0 -0.21012" quat="1.0 0.0 0.0 0.0">
              <inertial pos="0 0 0" mass="0.02" diaginertia="0.0 0.0 0.0" />
              <geom name="FL_FOOT_collision" pos="0 0 0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" type="sphere" size="0.022" class="collision" />
              <geom name="FL_FOOT_visual" pos="0 0 0" quat="1 0 0 0" material="" type="sphere" size="0.022" class="visual" />

            </body>
          </body>
        </body>
      </body>
      <body name="FR_HIP" pos="0.1745 -0.062 0" quat="1.0 0.0 0.0 0.0">
        <joint name="FR_HipX_joint" type="hinge" ref="0.0" class="motor" range="-0.523 0.523" axis="-1 0 0" />
        <inertial pos="-0.010579 0.011358 0.00048546" quat="1.0 0.0 0.0 0.0" mass="0.550" diaginertia="0.0004472 0.0004028 0.0003949" />
        <geom name="FR_HIP_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="fr_hip.STL" class="collision" />
        <geom name="FR_HIP_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="fr_hip.STL" class="visual" />
        <body name="FR_THIGH" pos="0 -0.09735 0" quat="1.0 0.0 0.0 0.0">
          <joint name="FR_HipY_joint" type="hinge" ref="0.0" class="motor" range="-2.67 0.314" axis="0 -1 0" />
          <inertial pos="-0.0039245 0.014632 -0.025146" quat="1.0 0.0 0.0 0.0" mass="0.86" diaginertia="0.005736 0.00496 0.001436" />
          <geom name="FR_THIGH_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="fr_thigh.STL" class="collision" />
          <geom name="FR_THIGH_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="fr_thigh.STL" class="visual" />
          <body name="FR_SHANK" pos="0 0 -0.20" quat="1.0 0.0 0.0 0.0">
            <joint name="FR_Knee_joint" type="hinge" ref="0.0" class="motor" range="0.524 2.792" axis="0 -1 0" />
            <inertial pos="0.0064794 -1.4552E-06 -0.12157" quat="1.0 0.0 0.0 0.0" mass="0.153" diaginertia="0.00089039 0.00090672 3.1266e-05" />
            <geom name="FR_SHANK_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="fr_shank_collision.STL" class="collision" />
            <geom name="FR_SHANK_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="fr_shank_collision.STL" class="visual" />
            <body name="FR_FOOT" pos="0 0 -0.21012" quat="1.0 0.0 0.0 0.0">
              <inertial pos="0 0 0" mass="0.02" diaginertia="0.0 0.0 0.0" />
              <geom name="FR_FOOT_collision" pos="0 0 0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" type="sphere" size="0.022" class="collision" />
              <geom name="FR_FOOT_visual" pos="0 0 0" quat="1 0 0 0" material="" type="sphere" size="0.022" class="visual" />
            </body>
          </body>
        </body>
      </body>
      <body name="HL_HIP" pos="-0.1745 0.062 0" quat="1.0 0.0 0.0 0.0">
        <joint name="HL_HipX_joint" type="hinge" ref="0.0" class="motor" range="-0.523 0.523" axis="-1 0 0" />
        <inertial pos="0.010905 -0.012636 0.001051" quat="1.0 0.0 0.0 0.0" mass="0.550" diaginertia="0.0003949 0.0004028 0.0004472" />
        <geom name="HL_HIP_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hl_hip.STL" class="collision" />
        <geom name="HL_HIP_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="hl_hip.STL" class="visual" />
        <body name="HL_THIGH" pos="0 0.09735 0" quat="1.0 0.0 0.0 0.0">
          <joint name="HL_HipY_joint" type="hinge" ref="0.0" class="motor" range="-2.67 0.314" axis="0 -1 0" />
          <inertial pos="-0.0039245 -0.014632 -0.025146" quat="1.0 0.0 0.0 0.0" mass="0.86" diaginertia="0.005736 0.00496 0.001436" />
          <geom name="HL_THIGH_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hl_thigh.STL" class="collision" />
          <geom name="HL_THIGH_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="hl_thigh.STL" class="visual" />
          <body name="HL_SHANK" pos="0 0 -0.20" quat="1.0 0.0 0.0 0.0">
            <joint name="HL_Knee_joint" type="hinge" ref="0.0" class="motor" range="0.524 2.792" axis="0 -1 0" />
            <inertial pos="0.0064794 -1.4558E-06 -0.12157" quat="1.0 0.0 0.0 0.0" mass="0.153" diaginertia="0.00089039 0.00090672 3.1266e-05" />
            <geom name="HL_SHANK_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hl_shank_collision.STL" class="collision" />
            <geom name="HL_SHANK_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="hl_shank_collision.STL" class="visual" />
            <body name="HL_FOOT" pos="0 0 -0.21012" quat="1.0 0.0 0.0 0.0">
              <inertial pos="0 0 0" mass="0.02" diaginertia="0.0 0.0 0.0" />
              <geom name="HL_FOOT_collision" pos="0 0 0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" type="sphere" size="0.022" class="collision" />
              <geom name="HL_FOOT_visual" pos="0 0 0" quat="1 0 0 0" material="" type="sphere" size="0.022" class="visual" />
            </body>
          </body>
        </body>
      </body>
      <body name="HR_HIP" pos="-0.1745 -0.062 0" quat="1.0 0.0 0.0 0.0">
        <joint name="HR_HipX_joint" type="hinge" ref="0.0" class="motor" range="-0.523 0.523" axis="-1 0 0" />
        <inertial pos="0.010354 0.011423 0.00049498" quat="1.0 0.0 0.0 0.0" mass="0.550" diaginertia="0.0003949 0.0004028 0.0004472" />
        <geom name="HR_HIP_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hr_hip.STL" class="collision" />
        <geom name="HR_HIP_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="hr_hip.STL" class="visual" />
        <body name="HR_THIGH" pos="0 -0.09735 0" quat="1.0 0.0 0.0 0.0">
          <joint name="HR_HipY_joint" type="hinge" ref="0.0" class="motor" range="-2.67 0.314" axis="0 -1 0" />
          <inertial pos="-0.0039245 0.014632 -0.025146" quat="1.0 0.0 0.0 0.0" mass="0.86" diaginertia="0.005736 0.00496 0.001436" />
          <geom name="HR_THIGH_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hr_thigh.STL" class="collision" />
          <geom name="HR_THIGH_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="hr_thigh.STL" class="visual" />
          <body name="HR_SHANK" pos="0 0 -0.20" quat="1.0 0.0 0.0 0.0">
            <joint name="HR_Knee_joint" type="hinge" ref="0.0" class="motor" range="0.524 2.792" axis="0 -1 0" />
            <inertial pos="0.0064794 -1.4529E-06 -0.12157" quat="1.0 0.0 0.0 0.0" mass="0.153" diaginertia="0.00089039 0.00090672 3.1266e-05" />
            <geom name="HR_SHANK_collision" pos="0 0 0" quat="1.0 0.0 0.0 0.0" type="mesh" mesh="hr_shank_collision.STL" class="collision" />
            <geom name="HR_SHANK_visual" pos="0 0 0" quat="1 0 0 0" material="" type="mesh" mesh="hr_shank_collision.STL" class="visual" />
            <body name="HR_FOOT" pos="0 0 -0.21012" quat="1.0 0.0 0.0 0.0">
              <inertial pos="0 0 0" mass="0.02" diaginertia="0.0 0.0 0.0" />
              <geom name="HR_FOOT_collision" pos="0 0 0" quat="0.7071067811882787 0.7071067811848163 0.0 0.0" type="sphere" size="0.022" class="collision" />
              <geom name="HR_FOOT_visual" pos="0 0 0" quat="1 0 0 0" material="" type="sphere" size="0.022" class="visual" />
            </body>
          </body>
        </body>
      </body>
      <site name="TORSO_site" pos="0 0 0" quat="1 0 0 0" />
      <camera name="front_camera" mode="track" fovy="90.0" quat="4.329780281177467e-17 4.329780281177466e-17 0.7071067811865475 0.7071067811865476" pos="0.0 2.0 0.5" />
      <camera name="side_camera" mode="track" fovy="90.0" quat="-0.5 -0.4999999999999999 0.5 0.5000000000000001" pos="-2.0 0.0 0.5" />
    </body>
  </worldbody>

  <actuator>
    <motor name="FL_HipX_joint_ctrl" joint="FL_HipX_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="FL_HipY_joint_ctrl" joint="FL_HipY_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="FL_Knee_joint_ctrl" joint="FL_Knee_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="FR_HipX_joint_ctrl" joint="FR_HipX_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="FR_HipY_joint_ctrl" joint="FR_HipY_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="FR_Knee_joint_ctrl" joint="FR_Knee_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="HL_HipX_joint_ctrl" joint="HL_HipX_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="HL_HipY_joint_ctrl" joint="HL_HipY_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="HL_Knee_joint_ctrl" joint="HL_Knee_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="HR_HipX_joint_ctrl" joint="HR_HipX_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="HR_HipY_joint_ctrl" joint="HR_HipY_joint" class="motor" gear="1" ctrlrange="-30 30"/>
    <motor name="HR_Knee_joint_ctrl" joint="HR_Knee_joint" class="motor" gear="1" ctrlrange="-30 30"/>
  </actuator>

  <contact>
    <exclude body1="TORSO" body2="FL_HIP" />
    <exclude body1="FL_HIP" body2="FL_THIGH" />
    <exclude body1="FL_THIGH" body2="FL_SHANK" />
    <exclude body1="FL_SHANK" body2="FL_FOOT" />
    <exclude body1="TORSO" body2="FR_HIP" />
    <exclude body1="FR_HIP" body2="FR_THIGH" />
    <exclude body1="FR_THIGH" body2="FR_SHANK" />
    <exclude body1="FR_SHANK" body2="FR_FOOT" />
    <exclude body1="TORSO" body2="HL_HIP" />
    <exclude body1="HL_HIP" body2="HL_THIGH" />
    <exclude body1="HL_THIGH" body2="HL_SHANK" />
    <exclude body1="HL_SHANK" body2="HL_FOOT" />
    <exclude body1="TORSO" body2="HR_HIP" />
    <exclude body1="HR_HIP" body2="HR_THIGH" />
    <exclude body1="HR_THIGH" body2="HR_SHANK" />
    <exclude body1="HR_SHANK" body2="HR_FOOT" />
  </contact>

  <sensor>
    <framepos name="TORSO_site_pos" objtype="site" objname="TORSO_site" />
    <framequat name="TORSO_site_quat" objtype="site" objname="TORSO_site" />
    <framelinvel name="TORSO_site_linvel" objtype="site" objname="TORSO_site" />
    <frameangvel name="TORSO_site_angvel" objtype="site" objname="TORSO_site" />
    <velocimeter name="TORSO_site_vel" site="TORSO_site" />
    <accelerometer site="imu_site"/>
    <gyro          site="imu_site"/>
  </sensor>
</mujoco>