<!-- Copyright 2021 DeepMind Technologies Limited

     Licensed under the Apache License, Version 2.0 (the "License");
     you may not use this file except in compliance with the License.
     You may obtain a copy of the License at

         http://www.apache.org/licenses/LICENSE-2.0

     Unless required by applicable law or agreed to in writing, software
     distributed under the License is distributed on an "AS IS" BASIS,
     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
     See the License for the specific language governing permissions and
     limitations under the License.
-->

<mujoco model="Mannequin">
  <!-- Static humanoid model with all joints removed -->
  <option timestep="0.005"/>

  <visual>
    <map force="0.1" zfar="30"/>
    <rgba haze="0.15 0.25 0.35 1"/>
    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
  </visual>

  <statistic center="0 0 0.7"/>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
  </asset>

  <default>
    <motor ctrlrange="-1 1" ctrllimited="true"/>
    <default class="body">

      <!-- geoms -->
      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".003 1" material="body"/>
      <default class="thigh">
        <geom size=".06"/>
      </default>
      <default class="shin">
        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
      </default>
      <default class="foot">
        <geom size=".027"/>
        <default class="foot1">
          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
        </default>
        <default class="foot2">
          <geom fromto="-.07 .01 0 .14  .03 0"/>
        </default>
      </default>
      <default class="arm_upper">
        <geom size=".04"/>
      </default>
      <default class="arm_lower">
        <geom size=".031"/>
      </default>
      <default class="hand">
        <geom type="sphere" size=".04"/>
      </default>

      <!-- joints -->
      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
      <default class="joint_big">
        <joint damping="5" stiffness="10"/>
        <default class="hip_x">
          <joint range="-30 10"/>
        </default>
        <default class="hip_z">
          <joint range="-60 35"/>
        </default>
        <default class="hip_y">
          <joint axis="0 1 0" range="-150 20"/>
        </default>
        <default class="joint_big_stiff">
          <joint stiffness="20"/>
        </default>
      </default>
      <default class="knee">
        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
      </default>
      <default class="ankle">
        <joint range="-50 50"/>
        <default class="ankle_y">
          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
        </default>
        <default class="ankle_x">
          <joint pos="0 0 .04" stiffness="3"/>
        </default>
      </default>
      <default class="shoulder">
        <joint range="-85 60"/>
      </default>
      <default class="elbow">
        <joint range="-100 50" stiffness="0"/>
      </default>
    </default>
  </default>

  <worldbody>
    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
    <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
    <body name="torso" pos="0 0 1.282" childclass="body">
      <light name="top" pos="0 0 2" mode="trackcom"/>
      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
      <freejoint name="root"/>
      <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
      <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
      <body name="head" pos="0 0 .19">
        <geom name="head" type="sphere" size=".09"/>
        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
      </body>
      <body name="neck">
        <geom type="cylinder" size=".03" fromto="0 0 .07 0 0 .1"/>
      </body>
      <body name="waist_lower" pos="-.01 0 -.26">
        <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
        <body name="pelvis" pos="0 0 -.165">
          <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
          <body name="thigh_right" pos="0 -.1 -.04">
            <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
            <body name="shin_right" pos="0 .01 -.4">
              <geom name="shin_right" class="shin"/>
              <body name="foot_right" pos="0 0 -.39">
                <geom name="foot1_right" class="foot1"/>
                <geom name="foot2_right" class="foot2"/>
              </body>
            </body>
          </body>
          <body name="thigh_left" pos="0 .1 -.04">
            <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
            <body name="shin_left" pos="0 -.01 -.4">
              <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
              <body name="foot_left" pos="0 0 -.39">
                <geom name="foot1_left" class="foot1"/>
                <geom name="foot2_left" class="foot2"/>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="upper_arm_right" pos="0 -.17 .06">
        <geom name="upper_arm_right" fromto="0 0 0 0 -.22 0" class="arm_upper"/>
        <body name="lower_arm_right" pos="0 -.22 0">
          <geom name="lower_arm_right" fromto=".01 .01 .01 0 -.21 -.05" class="arm_lower"/>
          <body name="hand_right" pos="0 -.22 -.05">
            <geom name="hand_right" zaxis="1 1 1" class="hand"/>
          </body>
        </body>
      </body>
      <body name="upper_arm_left" pos="0 .17 .06">
        <geom name="upper_arm_left" fromto="0 0 0 0 .22 0" class="arm_upper"/>
        <body name="lower_arm_left" pos="0 .22 0">
          <geom name="lower_arm_left" fromto=".01 -.01 .01 0 .21 -.05" class="arm_lower"/>
          <body name="hand_left" pos="0 .22 -.05">
            <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <contact>
    <exclude body1="waist_lower" body2="thigh_right"/>
    <exclude body1="waist_lower" body2="thigh_left"/>
  </contact>

</mujoco>
