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<mujoco model="2 Humanoids and 100 objects">
<compiler angle="radian"/>
<option timestep="0.005" gravity="-1 -1 -10">
<flag island="disable"/>
</option>
<size memory="100M" nkey="8"/>
<visual>
<quality offsamples="8"/>
<map force="0.05" znear="0.1"/>
</visual>
<statistic extent="4"/>
<default>
<geom solimp="0.9 0.9 0.01"/>
<default class="capsule">
<geom size="0.1 0.05 0" type="capsule" material="capsule"/>
</default>
<default class="ellipsoid">
<geom size="0.15 0.1 0.07" type="ellipsoid" material="ellipsoid"/>
</default>
<default class="box">
<geom size="0.15 0.1 0.05" type="box" material="box"/>
</default>
<default class="cylinder">
<geom size="0.1 0.05 0" type="cylinder" condim="4" friction="1 0.01 0.01" material="cylinder"/>
</default>
<default class="sphere">
<geom size="0.1 0 0" material="sphere"/>
</default>
<default class="border">
<geom size="0.4 0 0" type="capsule" rgba="0.4 0.4 0.4 1"/>
</default>
<default class="borderpost">
<geom size="0.41 0.41 0.41" type="box" rgba="0.55 0.55 0.55 1"/>
</default>
<default class="1_main">
<geom solimp="0.9 0.95 0.001"/>
<general ctrllimited="true" ctrlrange="-1 1"/>
<default class="1_body">
<joint solimplimit="0 0.99 0.01" stiffness="1" limited="true" armature="0.01" damping="0.2"/>
<geom type="capsule" condim="1" group="1" friction="0.7" solref="0.015" solimp="0.9 0.99 0.003" material="body"/>
<default class="1_thigh">
<geom size="0.06 0 0"/>
</default>
<default class="1_shin">
<geom size="0.049 0 0"/>
</default>
<default class="1_foot">
<geom size="0.027 0 0"/>
<default class="1_foot1"/>
<default class="1_foot2"/>
</default>
<default class="1_arm_upper">
<geom size="0.04 0 0"/>
</default>
<default class="1_arm_lower">
<geom size="0.031 0 0"/>
</default>
<default class="1_hand">
<geom size="0.04 0 0" type="sphere"/>
</default>
<default class="1_joint_big">
<joint stiffness="10" damping="5"/>
<default class="1_hip_x">
<joint range="-30 10"/>
</default>
<default class="1_hip_z">
<joint range="-60 35"/>
</default>
<default class="1_hip_y">
<joint range="-150 20"/>
</default>
<default class="1_joint_big_stiff">
<joint stiffness="20"/>
</default>
</default>
<default class="1_knee">
<joint range="-160 2"/>
</default>
<default class="1_ankle">
<joint range="-50 50"/>
<default class="1_ankle_y">
<joint stiffness="6"/>
</default>
<default class="1_ankle_x">
<joint stiffness="3"/>
</default>
</default>
<default class="1_shoulder">
<joint range="-85 60"/>
</default>
<default class="1_elbow">
<joint stiffness="0" range="-100 50"/>
</default>
</default>
</default>
<default class="2_main">
<geom solimp="0.9 0.95 0.001"/>
<general ctrllimited="true" ctrlrange="-1 1"/>
<default class="2_body">
<joint solimplimit="0 0.99 0.01" stiffness="1" limited="true" armature="0.01" damping="0.2"/>
<geom type="capsule" condim="1" group="1" friction="0.7" solref="0.015" solimp="0.9 0.99 0.003" material="body"/>
<default class="2_thigh">
<geom size="0.06 0 0"/>
</default>
<default class="2_shin">
<geom size="0.049 0 0"/>
</default>
<default class="2_foot">
<geom size="0.027 0 0"/>
<default class="2_foot1"/>
<default class="2_foot2"/>
</default>
<default class="2_arm_upper">
<geom size="0.04 0 0"/>
</default>
<default class="2_arm_lower">
<geom size="0.031 0 0"/>
</default>
<default class="2_hand">
<geom size="0.04 0 0" type="sphere"/>
</default>
<default class="2_joint_big">
<joint stiffness="10" damping="5"/>
<default class="2_hip_x">
<joint range="-30 10"/>
</default>
<default class="2_hip_z">
<joint range="-60 35"/>
</default>
<default class="2_hip_y">
<joint range="-150 20"/>
</default>
<default class="2_joint_big_stiff">
<joint stiffness="20"/>
</default>
</default>
<default class="2_knee">
<joint range="-160 2"/>
</default>
<default class="2_ankle">
<joint range="-50 50"/>
<default class="2_ankle_y">
<joint stiffness="6"/>
</default>
<default class="2_ankle_x">
<joint stiffness="3"/>
</default>
</default>
<default class="2_shoulder">
<joint range="-85 60"/>
</default>
<default class="2_elbow">
<joint stiffness="0" range="-100 50"/>
</default>
</default>
</default>
</default>
<asset>
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.4 0.6 0.8" rgb2="0 0 0" width="512" height="3072"/>
<texture type="cube" colorspace="auto" name="texgeom" builtin="flat" mark="cross" rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1" width="128" height="768"/>
<texture type="2d" colorspace="auto" name="texplane" builtin="checker" rgb1="0.4 0.4 0.4" rgb2="0.6 0.6 0.6" width="512" height="512"/>
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="32" height="192"/>
<texture type="cube" colorspace="auto" name="1_body" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="128" height="768"/>
<texture type="2d" colorspace="auto" name="1_grid" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" width="512" height="512"/>
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="32" height="192"/>
<texture type="cube" colorspace="auto" name="2_body" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="128" height="768"/>
<texture type="2d" colorspace="auto" name="2_grid" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" width="512" height="512"/>
<material name="MatPlane" texture="texplane" texuniform="true" reflectance="0.3" rgba="0.7 0.7 0.7 1"/>
<material name="capsule" texture="texgeom" texuniform="true" rgba="0.4 0.9 0.6 1"/>
<material name="ellipsoid" texture="texgeom" texuniform="true" rgba="0.4 0.6 0.9 1"/>
<material name="box" texture="texgeom" texuniform="true" rgba="0.4 0.9 0.9 1"/>
<material name="cylinder" texture="texgeom" texuniform="true" rgba="0.8 0.6 0.8 1"/>
<material name="sphere" texture="texgeom" texuniform="true" rgba="0.9 0.1 0.1 1"/>
<material name="1_body" texture="1_body" texuniform="true" rgba="0.8 0.6 0.4 1"/>
<material name="1_grid" texture="1_grid" texuniform="true" reflectance="0.2"/>
<material name="2_body" texture="2_body" texuniform="true" rgba="0.8 0.6 0.4 1"/>
<material name="2_grid" texture="2_grid" texuniform="true" reflectance="0.2"/>
</asset>
<worldbody>
<geom name="floor" size="3 3 0.5" type="plane" material="MatPlane"/>
<geom class="border" size="0.4 3" pos="0 3 0" quat="0.707107 0 -0.707107 0"/>
<geom class="border" size="0.4 3" pos="0 -3 0" quat="0.707107 0 -0.707107 0"/>
<geom class="border" size="0.4 3" pos="3 0 0" quat="0.707107 -0.707107 0 0"/>
<geom class="border" size="0.4 3" pos="-3 0 0" quat="0.707107 -0.707107 0 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"/>
<light pos="0 0 10" dir="0 0 -1" type="directional" diffuse="0.8 0.8 0.8"/>
<geom size="0.5 3 0.05" pos="-3 0 0.4" quat="0.707107 0 0.707107 0" type="plane"/>
<geom size="0.5 3 0.05" pos="0 -3 0.4" quat="0.5 -0.5 0.5 0.5" type="plane"/>
<geom size="0.5 3 0.05" pos="3 0 0.4" quat="0 -0.707107 0 0.707107" type="plane"/>
<geom size="0.5 3 0.05" pos="0 3 0.4" quat="-0.5 -0.5 -0.5 0.5" type="plane"/>
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<joint type="free"/>
<geom class="capsule"/>
</body>
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</body>
<body name="1_torso" childclass="1_body" pos="0 0 1.282">
<joint name="1_root" type="free" solimplimit="0.9 0.95 0.001" stiffness="0" armature="0" damping="0"/>
<geom name="1_torso" size="0.07 0.07" quat="0.707107 0.707107 0 0" material="1_body"/>
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<camera name="1_back" pos="-3 0 1" quat="0.601501 0.371748 -0.371748 -0.601501" mode="trackcom"/>
<camera name="1_side" pos="0 -3 1" quat="0.850651 0.525731 0 0" mode="trackcom"/>
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<body name="1_shin_right" pos="0 0.01 -0.4">
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<body name="1_foot_right" pos="0 0 -0.39">
<joint name="1_ankle_y_right" class="1_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
<joint name="1_ankle_x_right" class="1_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
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</body>
</body>
</body>
<body name="1_thigh_left" pos="0 0.1 -0.04">
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<geom name="1_thigh_left" class="1_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="1_body"/>
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</body>
</body>
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</worldbody>
<contact>
<exclude body1="1_waist_lower" body2="1_thigh_right"/>
<exclude body1="1_waist_lower" body2="1_thigh_left"/>
<exclude body1="2_waist_lower" body2="2_thigh_right"/>
<exclude body1="2_waist_lower" body2="2_thigh_left"/>
</contact>
<tendon>
<fixed name="1_hamstring_right" limited="true" range="-0.3 2">
<joint joint="1_hip_y_right" coef="0.5"/>
<joint joint="1_knee_right" coef="-0.5"/>
</fixed>
<fixed name="1_hamstring_left" limited="true" range="-0.3 2">
<joint joint="1_hip_y_left" coef="0.5"/>
<joint joint="1_knee_left" coef="-0.5"/>
</fixed>
<fixed name="2_hamstring_right" limited="true" range="-0.3 2">
<joint joint="2_hip_y_right" coef="0.5"/>
<joint joint="2_knee_right" coef="-0.5"/>
</fixed>
<fixed name="2_hamstring_left" limited="true" range="-0.3 2">
<joint joint="2_hip_y_left" coef="0.5"/>
<joint joint="2_knee_left" coef="-0.5"/>
</fixed>
</tendon>
<actuator>
<general name="1_abdomen_z" joint="1_abdomen_z" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
<general name="1_abdomen_y" joint="1_abdomen_y" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
<general name="1_abdomen_x" joint="1_abdomen_x" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
<general name="1_hip_x_right" joint="1_hip_x_right" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
<general name="1_hip_z_right" joint="1_hip_z_right" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
<general name="1_hip_y_right" joint="1_hip_y_right" ctrllimited="true" ctrlrange="-1 1" gear="120 0 0 0 0 0"/>
<general name="1_knee_right" joint="1_knee_right" ctrllimited="true" ctrlrange="-1 1" gear="80 0 0 0 0 0"/>
<general name="1_ankle_y_right" joint="1_ankle_y_right" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
<general name="1_ankle_x_right" joint="1_ankle_x_right" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
<general name="1_hip_x_left" joint="1_hip_x_left" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
<general name="1_hip_z_left" joint="1_hip_z_left" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
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