processed/amass/unitree_g1/humanoid/random_stuff/scene.xml

<mujoco model="g1 scene">
  <compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />

  <!-- performance options -->
  <option timestep="0.01" iterations="5" ls_iterations="20" integrator="implicitfast">
    <flag eulerdamp="disable" />
  </option>

  <visual>
    <global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
    <quality shadowsize="8192" />
    <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
    <scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
      framewidth="0.3" />
    <rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
  </visual>

  <custom>
    <numeric data="15" name="max_contact_points" />
    <numeric data="15" name="max_geom_pairs" />
  </custom>

  <default>
    <default class="g1">
      <default class="visual">
        <geom group="2" type="mesh" density="0" material="silver" />
      </default>
      <default class="collision">
        <geom group="3" rgba="0 1 0 1" />
      </default>
      <site group="5" rgba="1 0 0 1" />
      <!-- Disable all contacts and use explicit contact pairs. -->
      <geom condim="1" contype="0" conaffinity="0" />
      <position kp="500" dampratio="1" inheritrange="1" />
      <joint frictionloss="0.1" solimplimit="0.97 0.995 0.001" />

      <default class="hip">
        <default class="hip_pitch">
          <joint axis="0 1 0" range="-2.5307 2.8798" armature="0.01017752004" damping="2.5579" />
          <position kp="40.1792" dampratio="1" inheritrange="1" />
        </default>
        <default class="hip_roll">
          <joint axis="1 0 0" range="-0.5236 2.9671" armature="0.025101925" damping="6.3088" />
          <position kp="99.0984" dampratio="1" inheritrange="1" />
        </default>
        <default class="hip_yaw">
          <joint axis="0 0 1" range="-2.7576 2.7576" armature="0.01017752004" damping="2.5579" />
          <position kp="40.1792" dampratio="1" inheritrange="1" />
        </default>
      </default>
      <default class="knee">
        <joint axis="0 1 0" range="-0.087267 2.8798" armature="0.025101925" damping="6.3088" />
        <position kp="99.0984" dampratio="1" inheritrange="1" />
      </default>
      <default class="ankle">
        <default class="ankle_pitch">
          <joint axis="0 1 0" range="-0.87267 0.5236" armature="0.00721945" damping="1.8144" />
          <position kp="28.5012" dampratio="1" inheritrange="1" />
        </default>
        <default class="ankle_roll">
          <joint axis="1 0 0" range="-0.2618 0.2618" armature="0.00721945" damping="1.8144" />
          <position kp="28.5012" dampratio="1" inheritrange="1" />
        </default>
      </default>

      <default class="waist_yaw">
        <joint axis="0 0 1" range="-2.618 2.618" armature="0.01017752004" damping="2.5579" />
        <position kp="40.1792" dampratio="1" inheritrange="1" />
      </default>
      <default class="waist_pitch">
        <joint axis="0 1 0" range="-0.52 0.52" armature="0.00721945" damping="1.8144" />
        <position kp="28.5012" dampratio="1" inheritrange="1" />
      </default>
      <default class="waist_roll">
        <joint axis="1 0 0" range="-0.52 0.52" armature="0.00721945" damping="1.8144" />
        <position kp="28.5012" dampratio="1" inheritrange="1" />
      </default>

      <default class="shoulder">
        <default class="shoulder_pitch">
          <joint axis="0 1 0" range="-3.0892 2.6704" armature="0.003609725" damping="0.9072" />
          <position kp="14.2506" dampratio="1" inheritrange="1" />
        </default>
        <default class="shoulder_roll">
          <joint axis="1 0 0" armature="0.003609725" damping="0.9072" />
          <position kp="14.2506" dampratio="1" inheritrange="1" />
        </default>
        <default class="shoulder_yaw">
          <joint axis="0 0 1" range="-2.618 2.618" armature="0.003609725" damping="0.9072" />
          <position kp="14.2506" dampratio="1" inheritrange="1" />
        </default>
      </default>

      <default class="elbow">
        <joint axis="0 1 0" range="-1.0472 2.0944" armature="0.003609725" damping="0.9072" />
        <position kp="14.2506" dampratio="1" inheritrange="1" />
      </default>

      <default class="wrist">
        <default class="wrist_roll">
          <joint axis="1 0 0" range="-1.97222 1.97222" armature="0.003609725" damping="0.9072" />
          <position kp="14.2506" dampratio="1" inheritrange="1" />
        </default>
        <default class="wrist_pitch">
          <joint axis="0 1 0" range="-1.61443 1.61443" armature="0.00425" damping="1.0681" />
          <position kp="16.7783" dampratio="1" inheritrange="1" />
        </default>
        <default class="wrist_yaw">
          <joint axis="0 0 1" range="-1.61443 1.61443" armature="0.00425" damping="1.0681" />
          <position kp="16.7783" dampratio="1" inheritrange="1" />
        </default>
      </default>
    </default>
  </default>

  <asset>
    <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
    <texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
      rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />

    <material name="silver" rgba="0.7 0.7 0.7 1" />
    <material name="black" rgba="0.2 0.2 0.2 1" />

    <mesh name="pelvis" file="pelvis.STL" />
    <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL" />
    <mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL" />
    <mesh name="left_hip_roll_link" file="left_hip_roll_link.STL" />
    <mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL" />
    <mesh name="left_knee_link" file="left_knee_link.STL" />
    <mesh name="left_ankle_pitch_link" file="left_ankle_pitch_link.STL" />
    <mesh name="left_ankle_roll_link" file="left_ankle_roll_link.STL" />
    <mesh name="right_hip_pitch_link" file="right_hip_pitch_link.STL" />
    <mesh name="right_hip_roll_link" file="right_hip_roll_link.STL" />
    <mesh name="right_hip_yaw_link" file="right_hip_yaw_link.STL" />
    <mesh name="right_knee_link" file="right_knee_link.STL" />
    <mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL" />
    <mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL" />
    <mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL" />
    <mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL" />
    <mesh name="torso_link" file="torso_link_rev_1_0.STL" />
    <mesh name="logo_link" file="logo_link.STL" />
    <mesh name="head_link" file="head_link.STL" />
    <mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL" />
    <mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL" />
    <mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL" />
    <mesh name="left_elbow_link" file="left_elbow_link.STL" />
    <mesh name="left_wrist_roll_link" file="left_wrist_roll_link.STL" />
    <mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL" />
    <mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL" />
    <mesh name="left_rubber_hand" file="left_rubber_hand.STL" />
    <mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL" />
    <mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL" />
    <mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL" />
    <mesh name="right_elbow_link" file="right_elbow_link.STL" />
    <mesh name="right_wrist_roll_link" file="right_wrist_roll_link.STL" />
    <mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL" />
    <mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL" />
    <mesh name="right_rubber_hand" file="right_rubber_hand.STL" />
  </asset>

  <worldbody>
    <light pos="0 0 5" dir="0 0 -1" type="directional" />
    <geom name="floor" size="0 0 0.01" type="plane" material="groundplane" />
    <body name="pelvis" pos="0 0 0.793" childclass="g1">
      <camera name="track" pos="1.734 -1.135 .35" xyaxes="0.552 0.834 -0.000 -0.170 0.112 0.979"
        mode="trackcom" />
      <camera name="track2" pos="1.489 1.189 1.174" xyaxes="-0.609 0.793 -0.000 -0.221 -0.169 0.961"
        mode="trackcom" />
      <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813"
        diaginertia="0.010549 0.0093089 0.0079184" />
      <freejoint name="floating_base_joint" />
      <geom class="visual" material="black" mesh="pelvis" />
      <geom class="visual" mesh="pelvis_contour_link" />
      <!-- <geom name="pelvis_collision" class="collision" type="sphere" size="0.07" pos="0 0 -0.08"
      /> -->
      <site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
      <site name="trace_pelvis" size="0.01" pos="0.04525 0 -0.08339" />
      <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
        <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122"
          mass="1.35"
          diaginertia="0.00181517 0.00153422 0.00116212" />
        <joint name="left_hip_pitch_joint" class="hip_pitch" />
        <geom class="visual" material="black" mesh="left_hip_pitch_link" />
        <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
          <inertial pos="0.029812 -0.001045 -0.087934"
            quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52"
            diaginertia="0.00254986 0.00241169 0.00148755" />
          <joint name="left_hip_roll_joint" class="hip_roll" />
          <geom class="visual" mesh="left_hip_roll_link" />
          <!-- <geom name="left_hip_collision" class="collision" size="0.06"
            fromto="0.02 0 0 0.02 0 -0.08" /> -->
          <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
            <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181"
              mass="1.702"
              diaginertia="0.00776166 0.00717575 0.00160139" />
            <joint name="left_hip_yaw_joint" class="hip_yaw" />
            <geom class="visual" mesh="left_hip_yaw_link" />
            <!-- <geom name="left_thigh_collision" class="collision" size="0.055"
              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
            <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734"
              quat="0.996179 0 0.0873386 0">
              <inertial pos="0.005457 0.003964 -0.12074"
                quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932"
                diaginertia="0.0113804 0.0112778 0.00146458" />
              <joint name="left_knee_joint" class="knee" />
              <geom class="visual" mesh="left_knee_link" />
              <geom name="left_shin" class="collision" type="capsule" size="0.04" fromto="0.02 0 0 0.02 0 -0.25" />
              <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001">
                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
                  mass="0.074"
                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
                <joint name="left_ankle_pitch_joint" class="ankle_pitch" />
                <geom class="visual" mesh="left_ankle_pitch_link" />
                <body name="left_ankle_roll_link" pos="0 0 -0.017558">
                  <site name="left_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
                  <inertial pos="0.026505 0 -0.016425"
                    quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608"
                    diaginertia="0.00167218 0.0016161 0.000217621" />
                  <joint name="left_ankle_roll_joint" class="ankle_roll" />
                  <geom class="visual" material="black" mesh="left_ankle_roll_link" />
                  <geom name="left_foot1_collision" class="collision" type="capsule" size="0.01" fromto="0.1 -0.026 -0.025 0.05 -0.027 -0.025" />
                  <geom name="left_foot2_collision" class="collision" type="capsule" size="0.01" fromto="-0.044 -0.018 -0.025 0.123 -0.018 -0.025" />
                  <geom name="left_foot3_collision" class="collision" type="capsule" size="0.01" fromto="-0.052 -0.01 -0.025 0.13 -0.01 -0.025" />
                  <geom name="left_foot4_collision" class="collision" type="capsule" size="0.01" fromto="-0.054 0 -0.025 0.132 0 -0.025" />
                  <geom name="left_foot5_collision" class="collision" type="capsule" size="0.01" fromto="-0.052 0.01 -0.025 0.13 0.01 -0.025" />
                  <geom name="left_foot6_collision" class="collision" type="capsule" size="0.01" fromto="-0.044 0.018 -0.025 0.123 0.018 -0.025" />
                  <geom name="left_foot7_collision" class="collision" type="capsule" size="0.01" fromto="0.1 0.026 -0.025 0.05 0.026 -0.025" />
                  <site name="trace_left_foot" size="0.01" pos="0.04 0 -0.037" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027">
        <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122"
          mass="1.35"
          diaginertia="0.00181517 0.00153422 0.00116212" />
        <joint name="right_hip_pitch_joint" class="hip_pitch" />
        <geom class="visual" material="black" mesh="right_hip_pitch_link" />
        <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
          <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793"
            mass="1.52"
            diaginertia="0.00254986 0.00241169 0.00148755" />
          <joint name="right_hip_roll_joint" class="hip_roll" />
          <geom class="visual" mesh="right_hip_roll_link" />
          <!-- <geom name="right_hip_collision" class="collision" size="0.06"
            fromto="0.02 0 0 0.02 0 -0.08" /> -->
          <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
            <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598"
              mass="1.702"
              diaginertia="0.00776166 0.00717575 0.00160139" />
            <joint name="right_hip_yaw_joint" class="hip_yaw" />
            <geom class="visual" mesh="right_hip_yaw_link" />
            <!-- <geom name="right_thigh_collision" class="collision" size="0.055"
              fromto="-0.0 0 -0.03 -0.06 0 -0.17" /> -->
            <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734"
              quat="0.996179 0 0.0873386 0">
              <inertial pos="0.005457 -0.003964 -0.12074"
                quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932"
                diaginertia="0.011374 0.0112843 0.00146452" />
              <joint name="right_knee_joint" class="knee" />
              <geom class="visual" mesh="right_knee_link" />
              <geom name="right_shin" class="collision" type="capsule" size="0.04" fromto="0.02 0 0 0.02 0 -0.25" />
              <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
                <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053"
                  mass="0.074"
                  diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
                <joint name="right_ankle_pitch_joint" class="ankle_pitch" />
                <geom class="visual" mesh="right_ankle_pitch_link" />
                <body name="right_ankle_roll_link" pos="0 0 -0.017558">
                  <site name="right_foot" rgba="1 0 0 1" pos="0.04 0 -0.037" />
                  <inertial pos="0.026505 0 -0.016425"
                    quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
                    diaginertia="0.00167218 0.0016161 0.000217621" />
                  <joint name="right_ankle_roll_joint" class="ankle_roll" />
                  <geom class="visual" material="black" mesh="right_ankle_roll_link" />
                  <geom name="right_foot1_collision" class="collision" type="capsule" size="0.01" fromto="0.1 -0.026 -0.025 0.05 -0.026 -0.025" />
                  <geom name="right_foot2_collision" class="collision" type="capsule" size="0.008" fromto="-0.044 -0.018 -0.025 0.123 -0.018 -0.025" />
                  <geom name="right_foot3_collision" class="collision" type="capsule" size="0.01" fromto="-0.052 -0.01 -0.025 0.13 -0.01 -0.025" />
                  <geom name="right_foot4_collision" class="collision" type="capsule" size="0.01" fromto="-0.054 0 -0.025 0.132 0 -0.025" />
                  <geom name="right_foot5_collision" class="collision" type="capsule" size="0.01" fromto="-0.052 0.01 -0.025 0.13 0.01 -0.025" />
                  <geom name="right_foot6_collision" class="collision" type="capsule" size="0.008" fromto="-0.044 0.018 -0.025 0.123 0.018 -0.025" />
                  <geom name="right_foot7_collision" class="collision" type="capsule" size="0.01" fromto="0.1 0.026 -0.025 0.05 0.026 -0.025" />
                  <site name="trace_right_foot" size="0.01" pos="0.04 0 -0.037" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="waist_yaw_link">
        <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
          mass="0.214"
          diaginertia="0.000163531 0.000107714 0.000102205" />
        <joint name="waist_yaw_joint" class="waist_yaw" />
        <geom class="visual" mesh="waist_yaw_link" />
        <body name="waist_roll_link" pos="-0.0039635 0 0.044">
          <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
            diaginertia="8.245e-06 7.079e-06 6.339e-06" />
          <joint name="waist_roll_joint" class="waist_roll" />
          <geom class="visual" mesh="waist_roll_link" />
          <body name="torso_link">
            <inertial pos="0.00203158 0.000339683 0.184568"
              quat="0.999803 -6.03319e-05 0.0198256 0.00131986"
              mass="7.818" diaginertia="0.121847 0.109825 0.0273735" />
            <joint name="waist_pitch_joint" class="waist_pitch" />
            <geom class="visual" mesh="torso_link" />
            <geom pos="0.0039635 0 -0.044" quat="1 0 0 0" class="visual" material="black"
              mesh="logo_link" />
            <geom pos="0.0039635 0 -0.044" class="visual" material="black" mesh="head_link" />
            <!-- <geom name="torso_collision" class="collision" size="0.09"
              fromto="0.01 0 0.08 0.01 0 0.2" />
            <geom name="head_collision" class="collision" type="sphere" size="0.06" pos="0 0 .43" /> -->
            <site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792" />
            <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
              quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
              <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
                mass="0.718"
                diaginertia="0.000465864 0.000432842 0.000406394" />
              <joint name="left_shoulder_pitch_joint" class="shoulder_pitch" />
              <geom class="visual" mesh="left_shoulder_pitch_link" />
              <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831"
                quat="0.990268 -0.139172 0 0">
                <inertial pos="-0.000227 0.00727 -0.063243"
                  quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
                  diaginertia="0.000691311 0.000618011 0.000388977" />
                <joint name="left_shoulder_roll_joint" range="-1.5882 2.2515" class="shoulder_roll" />
                <geom class="visual" mesh="left_shoulder_roll_link" />
                <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
                  <inertial pos="0.010773 -0.002949 -0.072009"
                    quat="0.716879 -0.0964829 -0.0679942 0.687134"
                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
                  <joint name="left_shoulder_yaw_joint" class="shoulder_yaw" />
                  <geom class="visual" mesh="left_shoulder_yaw_link" />
                  <!-- <geom name="left_shoulder_yaw_collision" class="collision" size="0.035"
                    fromto="0 0 -0.08 0 0 0.05" /> -->
                  <body name="left_elbow_link" pos="0.015783 0 -0.080518">
                    <inertial pos="0.064956 0.004454 -0.010062"
                      quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
                      diaginertia="0.000443035 0.000421612 0.000259353" />
                    <joint name="left_elbow_joint" class="elbow" />
                    <geom class="visual" mesh="left_elbow_link" />
                    <!-- <geom name="left_elbow_yaw_collision" class="collision" size="0.035"
                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
                    <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
                      <inertial pos="0.0171394 0.000537591 4.8864e-07"
                        quat="0.575338 0.411667 -0.574906 0.411094"
                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
                      <joint name="left_wrist_roll_joint" class="wrist_roll" />
                      <geom class="visual" mesh="left_wrist_roll_link" />
                      <body name="left_wrist_pitch_link" pos="0.038 0 0">
                        <inertial pos="0.0229999 -0.00111685 -0.00111658"
                          quat="0.249998 0.661363 0.293036 0.643608"
                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
                        <joint name="left_wrist_pitch_joint" class="wrist_pitch" />
                        <geom class="visual" mesh="left_wrist_pitch_link" />
                        <!-- <geom name="left_wrist_collision" class="collision" size="0.035"
                          fromto="-0.01 0 0 0.06 0 0" /> -->
                        <body name="left_wrist_yaw_link" pos="0.046 0 0">
                          <inertial pos="0.0708244 0.000191745 0.00161742"
                            quat="0.510571 0.526295 0.468078 0.493188"
                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
                          <joint name="left_wrist_yaw_joint" class="wrist_yaw" />
                          <geom class="visual" mesh="left_wrist_yaw_link" />
                          <geom pos="0.0415 0.003 0" quat="1 0 0 0" class="visual"
                            mesh="left_rubber_hand" />
                          <site name="left_palm" pos="0.08 0 0" size="0.01" />
                          <geom name="left_hand_collision" class="collision" type="capsule" size="0.05" fromto="0.05 0 0 0.1 0 0" />
                          <site name="trace_left_hand" size="0.01" pos="0.08 0 0" />
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
            <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
              quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
              <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
                mass="0.718"
                diaginertia="0.000465864 0.000432842 0.000406394" />
              <joint name="right_shoulder_pitch_joint" class="shoulder_pitch" />
              <geom class="visual" mesh="right_shoulder_pitch_link" />
              <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831"
                quat="0.990268 0.139172 0 0">
                <inertial pos="-0.000227 -0.00727 -0.063243"
                  quat="0.712604 -0.00710317 -0.0196223 0.701256"
                  mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" />
                <joint name="right_shoulder_roll_joint" range="-2.2515 1.5882" class="shoulder_roll" />
                <geom class="visual" mesh="right_shoulder_roll_link" />
                <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
                  <inertial pos="0.010773 0.002949 -0.072009"
                    quat="0.687134 -0.0679942 -0.0964829 0.716879"
                    mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" />
                  <joint name="right_shoulder_yaw_joint" class="shoulder_yaw" />
                  <geom class="visual" mesh="right_shoulder_yaw_link" />
                  <!-- <geom name="right_shoulder_yaw_collision" class="collision" size="0.035"
                    fromto="0 0 -0.08 0 0 0.05" /> -->
                  <body name="right_elbow_link" pos="0.015783 0 -0.080518">
                    <inertial pos="0.064956 -0.004454 -0.010062"
                      quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
                      diaginertia="0.000443035 0.000421612 0.000259353" />
                    <joint name="right_elbow_joint" class="elbow" />
                    <geom class="visual" mesh="right_elbow_link" />
                    <!-- <geom name="right_elbow_yaw_collision" class="collision" size="0.035"
                      fromto="-0.01 0 -0.01 0.08 0 -0.01" /> -->
                    <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
                      <inertial pos="0.0171394 -0.000537591 4.8864e-07"
                        quat="0.411667 0.575338 -0.411094 0.574906"
                        mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
                      <joint name="right_wrist_roll_joint" class="wrist_roll" />
                      <geom class="visual" mesh="right_wrist_roll_link" />
                      <body name="right_wrist_pitch_link" pos="0.038 0 0">
                        <inertial pos="0.0229999 0.00111685 -0.00111658"
                          quat="0.643608 0.293036 0.661363 0.249998"
                          mass="0.48405" diaginertia="0.000430353 0.000429873 0.000164648" />
                        <joint name="right_wrist_pitch_joint" class="wrist_pitch" />
                        <geom class="visual" mesh="right_wrist_pitch_link" />
                        <!-- <geom name="right_wrist_collision" class="collision" size="0.035"
                          fromto="-0.01 0 0 0.06 0 0" /> -->
                        <body name="right_wrist_yaw_link" pos="0.046 0 0">
                          <inertial pos="0.0708244 -0.000191745 0.00161742"
                            quat="0.493188 0.468078 0.526295 0.510571"
                            mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" />
                          <joint name="right_wrist_yaw_joint" class="wrist_yaw" />
                          <geom class="visual" mesh="right_wrist_yaw_link" />
                          <geom pos="0.0415 -0.003 0" quat="1 0 0 0" class="visual"
                            mesh="right_rubber_hand" />
                          <site name="right_palm" pos="0.08 0 0" size="0.01" />
                          <geom name="right_hand_collision" class="collision" type="capsule" size="0.05" fromto="0.05 0 0 0.1 0 0" />
                          <site name="trace_right_hand" size="0.01" pos="0.08 0 0" />
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <actuator>
    <position class="hip_pitch" name="left_hip_pitch_joint" joint="left_hip_pitch_joint" />
    <position class="hip_roll" name="left_hip_roll_joint" joint="left_hip_roll_joint" />
    <position class="hip_yaw" name="left_hip_yaw_joint" joint="left_hip_yaw_joint" />
    <position class="knee" name="left_knee_joint" joint="left_knee_joint" />
    <position class="ankle_pitch" name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" />
    <position class="ankle_roll" name="left_ankle_roll_joint" joint="left_ankle_roll_joint" />

    <position class="hip_pitch" name="right_hip_pitch_joint" joint="right_hip_pitch_joint" />
    <position class="hip_roll" name="right_hip_roll_joint" joint="right_hip_roll_joint" />
    <position class="hip_yaw" name="right_hip_yaw_joint" joint="right_hip_yaw_joint" />
    <position class="knee" name="right_knee_joint" joint="right_knee_joint" />
    <position class="ankle_pitch" name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" />
    <position class="ankle_roll" name="right_ankle_roll_joint" joint="right_ankle_roll_joint" />

    <position class="waist_yaw" name="waist_yaw_joint" joint="waist_yaw_joint" />
    <position class="waist_roll" name="waist_roll_joint" joint="waist_roll_joint" />
    <position class="waist_pitch" name="waist_pitch_joint" joint="waist_pitch_joint" />

    <position class="shoulder_pitch" name="left_shoulder_pitch_joint"
      joint="left_shoulder_pitch_joint" />
    <position class="shoulder_roll" name="left_shoulder_roll_joint" joint="left_shoulder_roll_joint" />
    <position class="shoulder_yaw" name="left_shoulder_yaw_joint" joint="left_shoulder_yaw_joint" />
    <position class="elbow" name="left_elbow_joint" joint="left_elbow_joint" />
    <position class="wrist_roll" name="left_wrist_roll_joint" joint="left_wrist_roll_joint" />
    <position class="wrist_pitch" name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint" />
    <position class="wrist_yaw" name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint" />

    <position class="shoulder_pitch" name="right_shoulder_pitch_joint"
      joint="right_shoulder_pitch_joint" />
    <position class="shoulder_roll" name="right_shoulder_roll_joint"
      joint="right_shoulder_roll_joint" />
    <position class="shoulder_yaw" name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint" />
    <position class="elbow" name="right_elbow_joint" joint="right_elbow_joint" />
    <position class="wrist_roll" name="right_wrist_roll_joint" joint="right_wrist_roll_joint" />
    <position class="wrist_pitch" name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint" />
    <position class="wrist_yaw" name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint" />
  </actuator>

  <!-- <sensor>
    <velocimeter site="imu_in_torso" name="local_linvel_torso" />
    <velocimeter site="imu_in_pelvis" name="local_linvel_pelvis" />
    <accelerometer site="imu_in_torso" name="accelerometer_torso" />
    <accelerometer site="imu_in_pelvis" name="accelerometer_pelvis" />
    <gyro site="imu_in_torso" name="gyro_torso" />
    <gyro site="imu_in_pelvis" name="gyro_pelvis" />
    <framezaxis objtype="site" objname="imu_in_torso" name="upvector_torso" />
    <framezaxis objtype="site" objname="imu_in_pelvis" name="upvector_pelvis" />
    <framequat objtype="site" objname="imu_in_torso" name="orientation_torso" />
    <framequat objtype="site" objname="imu_in_pelvis" name="orientation_pelvis" />
    <framelinvel objtype="site" objname="imu_in_torso" name="global_linvel_torso" />
    <framelinvel objtype="site" objname="imu_in_pelvis" name="global_linvel_pelvis" />
    <frameangvel objtype="site" objname="imu_in_torso" name="global_angvel_torso" />
    <frameangvel objtype="site" objname="imu_in_pelvis" name="global_angvel_pelvis" />
  </sensor> -->

  <contact>
    <pair name="left_foot_floor1" geom1="left_foot1_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="left_foot_floor2" geom1="left_foot2_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="left_foot_floor3" geom1="left_foot3_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="left_foot_floor4" geom1="left_foot4_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="left_foot_floor5" geom1="left_foot5_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="left_foot_floor6" geom1="left_foot6_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="left_foot_floor7" geom1="left_foot7_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="right_foot_floor1" geom1="right_foot1_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="right_foot_floor2" geom1="right_foot2_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="right_foot_floor3" geom1="right_foot3_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="right_foot_floor4" geom1="right_foot4_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="right_foot_floor5" geom1="right_foot5_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="right_foot_floor6" geom1="right_foot6_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="right_foot_floor7" geom1="right_foot7_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="left_hand_floor" geom1="left_hand_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />
    <pair name="right_hand_floor" geom1="right_hand_collision" geom2="floor" solref="0.008 1"
      friction="1 1" condim="3" />

      <!-- shin contact -->
      <pair name="left_shin_floor" geom1="left_shin" geom2="floor" solref="0.008 1"
        friction="1 1" condim="3" />
      <pair name="right_shin_floor" geom1="right_shin" geom2="floor" solref="0.008 1"
        friction="1 1" condim="3" />
      <pair name="left_right_shin" geom1="left_shin" geom2="right_shin" solref="0.008 1"
        friction="1 1" condim="3" />
  </contact>
</mujoco>