<!-- 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="Humanoid and 100 objects">
<!-- Degree of Freedom: 627
     Actuators: 21

     Humanoid and 100 free primitive objects.
-->
  <option timestep="0.005"/>

  <size memory="100M"/>

  <default>
    <geom solimp=".9 .9 .01"/>
    <default class="capsule">
      <geom type="capsule" material="capsule" size="0.1 0.05"/>
    </default>
    <default class="ellipsoid">
      <geom type="ellipsoid" material="ellipsoid" size="0.15 0.1 0.07"/>
    </default>
    <default class="box">
      <geom type="box" material="box" size="0.15 0.1 0.05"/>
    </default>
    <default class="cylinder">
      <geom type="cylinder" material="cylinder" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
    </default>
    <default class="sphere">
      <geom type="sphere" material="sphere" size="0.1"/>
    </default>
    <default class="border">
      <geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
    </default>
    <default class="borderpost">
      <geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
    </default>
  </default>

  <asset>
    <model file="humanoid.xml"/>
    <texture type="skybox" builtin="gradient" width="512" height="512" rgb1=".4 .6 .8" rgb2="0 0 0"/>
    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
    <texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6" width="512" height="512"/>
    <material name="MatPlane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true" rgba=".7 .7 .7 1"/>
    <material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
    <material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
    <material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
    <material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
    <material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
  </asset>

  <visual>
    <quality shadowsize="4096" offsamples="8"/>
    <map znear="0.1" force="0.05"/>
  </visual>

  <statistic extent="4"/>

  <worldbody>
    <attach model="Humanoid" body="torso" prefix="humanoid_"/>
    <light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
    <geom name="floor" type="plane" size="3 3 .5" material="MatPlane"/>
    <geom class="border" fromto="-3 3 0 3 3 0"/>
    <geom class="border" fromto="-3 -3 0 3 -3 0"/>
    <geom class="border" fromto="3 3 0 3 -3 0"/>
    <geom class="border" fromto="-3 3 0 -3 -3 0"/>
    <geom class="borderpost" pos="3 3 0"/>
    <geom class="borderpost" pos="-3 3 0"/>
    <geom class="borderpost" pos="3 -3 0"/>
    <geom class="borderpost" pos="-3 -3 0"/>

    <frame pos="-2 -2 2.5">
      <replicate count="5" offset="0 1 0" euler="0 180 0">
        <frame pos="0 0 -1.5">
          <replicate count="4" offset="0 0 1" euler="0 0 60">
            <body euler="30 40 0">
              <freejoint/>
              <geom class="capsule"/>
            </body>
          </replicate>
        </frame>
      </replicate>
    </frame>

    <frame pos="-1 -2 2.5">
      <replicate count="5" offset="0 1 0" euler="0 180 0">
        <frame pos="0 0 -1.5">
          <replicate count="4" offset="0 0 1" euler="0 0 60">
            <body euler="20 40 60">
              <freejoint/>
              <geom class="ellipsoid"/>
            </body>
          </replicate>
        </frame>
      </replicate>
    </frame>

    <frame pos="0 -2 3.5">
      <replicate count="5" offset="0 1 0" euler="0 180 0">
        <frame pos="0 0 -1.5">
          <replicate count="4" offset="0 0 1" euler="0 0 60">
            <body euler="30 70 110">
              <freejoint/>
              <geom class="box"/>
            </body>
          </replicate>
        </frame>
      </replicate>
    </frame>

    <frame pos="1 -2 2.5">
      <replicate count="5" offset="0 1 0" euler="0 180 0">
        <frame pos="0 0 -1.5">
          <replicate count="4" offset="0 0 1" euler="0 0 60">
            <body euler="60 30 0">
              <freejoint/>
              <geom class="cylinder"/>
            </body>
          </replicate>
        </frame>
      </replicate>
    </frame>

    <frame pos="2 -2 2.5">
      <replicate count="5" offset="0 1 0">
        <frame pos="0 0 -1.5">
          <replicate count="4" offset="0 0 1">
            <body>
              <freejoint/>
              <geom class="sphere"/>
            </body>
          </replicate>
        </frame>
      </replicate>
    </frame>

  </worldbody>
</mujoco>
