mujoco

<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"/>
    <body pos="-2 0 0.5" quat="0.907673 0.24321 0.330366 0.0885213">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-1.87939 -0.68404 0.7" quat="0.878512 0.182148 0.36758 0.244792">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-1.53209 -1.28558 0.9" quat="0.822658 0.115551 0.393625 0.393625">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-1 -1.73205 1.1" quat="0.741808 0.0454433 0.407711 0.530498">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-0.347296 -1.96962 1.3" quat="0.638418 -0.0260453 0.409408 0.651252">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="0.347296 -1.96962 1.5" quat="0.51563 -0.0967425 0.398665 0.752219">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="1 -1.73205 1.7" quat="0.377175 -0.1645 0.375809 0.830329">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="1.53209 -1.28558 1.9" quat="0.22726 -0.22726 0.341535 0.88321">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="1.87939 -0.68404 2.1" quat="0.0704393 -0.283114 0.296883 0.909255">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="2 0 2.3" quat="-0.0885213 -0.330366 0.24321 0.907673">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="1.87939 0.68404 2.5" quat="-0.244792 -0.36758 0.182148 0.878512">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="1.53209 1.28558 2.7" quat="-0.393625 -0.393625 0.115551 0.822658">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="1 1.73205 2.9" quat="-0.530498 -0.407711 0.0454433 0.741808">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="0.347296 1.96962 3.1" quat="-0.651252 -0.409408 -0.0260453 0.638418">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-0.347296 1.96962 3.3" quat="-0.752219 -0.398665 -0.0967425 0.51563">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-1 1.73205 3.5" quat="-0.830329 -0.375809 -0.1645 0.377175">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-1.53209 1.28558 3.7" quat="-0.88321 -0.341535 -0.22726 0.22726">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-1.87939 0.68404 3.9" quat="-0.909255 -0.296883 -0.283114 0.0704393">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-2 0 4.1" quat="-0.907673 -0.24321 -0.330366 -0.0885213">
      <joint type="free"/>
      <geom class="capsule"/>
    </body>
    <body pos="-1.87939 -0.68404 4.3" quat="-0.878512 -0.182148 -0.36758 -0.244792">
      <joint type="free"/>
      <geom class="capsule"/>
    </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"/>
      <geom name="1_waist_upper" size="0.06 0.06" pos="-0.01 0 -0.12" quat="0.707107 0.707107 0 0" material="1_body"/>
      <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"/>
      <body name="1_head" pos="0 0 0.19">
        <geom name="1_head" size="0.09" type="sphere" material="1_body"/>
        <camera name="1_egocentric" pos="0.09 0 0" quat="0.524286 0.474472 -0.474472 -0.524286" fovy="80"/>
      </body>
      <body name="1_waist_lower" pos="-0.01 0 -0.26">
        <joint name="1_abdomen_z" class="1_joint_big_stiff" pos="0 0 0.065" axis="0 0 1" range="-0.785398 0.785398"/>
        <joint name="1_abdomen_y" class="1_joint_big" pos="0 0 0.065" axis="0 1 0" range="-1.309 0.523599"/>
        <geom name="1_waist_lower" size="0.06 0.06" quat="0.707107 0.707107 0 0" material="1_body"/>
        <body name="1_pelvis" pos="0 0 -0.165">
          <joint name="1_abdomen_x" class="1_joint_big" pos="0 0 0.1" axis="1 0 0" range="-0.610865 0.610865"/>
          <geom name="1_butt" size="0.09 0.07" pos="-0.02 0 0" quat="0.707107 0.707107 0 0" material="1_body"/>
          <body name="1_thigh_right" pos="0 -0.1 -0.04">
            <joint name="1_hip_x_right" class="1_hip_x" pos="0 0 0" axis="1 0 0" range="-0.523599 0.174533"/>
            <joint name="1_hip_z_right" class="1_hip_z" pos="0 0 0" axis="0 0 1" range="-1.0472 0.610865"/>
            <joint name="1_hip_y_right" class="1_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
            <geom name="1_thigh_right" class="1_thigh" size="0.06 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" material="1_body"/>
            <body name="1_shin_right" pos="0 0.01 -0.4">
              <joint name="1_knee_right" class="1_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
              <geom name="1_shin_right" class="1_shin" size="0.049 0.15" pos="0 0 -0.15" material="1_body"/>
              <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"/>
                <geom name="1_foot1_right" class="1_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="1_body"/>
                <geom name="1_foot2_right" class="1_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="1_body"/>
              </body>
            </body>
          </body>
          <body name="1_thigh_left" pos="0 0.1 -0.04">
            <joint name="1_hip_x_left" class="1_hip_x" pos="0 0 0" axis="-1 0 0" range="-0.523599 0.174533"/>
            <joint name="1_hip_z_left" class="1_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
            <joint name="1_hip_y_left" class="1_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
            <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"/>
            <body name="1_shin_left" pos="0 -0.01 -0.4">
              <joint name="1_knee_left" class="1_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
              <geom name="1_shin_left" class="1_shin" size="0.049 0.15" pos="0 0 -0.15" material="1_body"/>
              <body name="1_foot_left" pos="0 0 -0.39">
                <joint name="1_ankle_y_left" class="1_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
                <joint name="1_ankle_x_left" class="1_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
                <geom name="1_foot1_left" class="1_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="1_body"/>
                <geom name="1_foot2_left" class="1_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="1_body"/>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="1_upper_arm_right" pos="0 -0.17 0.06">
        <joint name="1_shoulder1_right" class="1_shoulder" pos="0 0 0" axis="0.816497 0.408248 0.408248" range="-1.48353 1.0472"/>
        <joint name="1_shoulder2_right" class="1_shoulder" pos="0 0 0" axis="0 -0.707107 0.707107" range="-1.48353 1.0472"/>
        <geom name="1_upper_arm_right" class="1_arm_upper" size="0.04 0.138564" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" material="1_body"/>
        <body name="1_lower_arm_right" pos="0.18 -0.18 -0.18">
          <joint name="1_elbow_right" class="1_elbow" pos="0 0 0" axis="0 -0.707107 0.707107" range="-1.74533 0.872665"/>
          <geom name="1_lower_arm_right" class="1_arm_lower" size="0.031 0.138564" pos="0.09 0.09 0.09" quat="0.459701 0.627963 -0.627963 0" material="1_body"/>
          <body name="1_hand_right" pos="0.18 0.18 0.18">
            <geom name="1_hand_right" class="1_hand" quat="0.888074 -0.325058 0.325058 0" material="1_body"/>
          </body>
        </body>
      </body>
      <body name="1_upper_arm_left" pos="0 0.17 0.06">
        <joint name="1_shoulder1_left" class="1_shoulder" pos="0 0 0" axis="-0.816497 0.408248 -0.408248" range="-1.48353 1.0472"/>
        <joint name="1_shoulder2_left" class="1_shoulder" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.48353 1.0472"/>
        <geom name="1_upper_arm_left" class="1_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="1_body"/>
        <body name="1_lower_arm_left" pos="0.18 0.18 -0.18">
          <joint name="1_elbow_left" class="1_elbow" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.74533 0.872665"/>
          <geom name="1_lower_arm_left" class="1_arm_lower" size="0.031 0.138564" pos="0.09 -0.09 0.09" quat="0.459701 -0.627963 -0.627963 0" material="1_body"/>
          <body name="1_hand_left" pos="0.18 -0.18 0.18">
            <geom name="1_hand_left" class="1_hand" quat="0.888074 0.325058 0.325058 0" material="1_body"/>
          </body>
        </body>
      </body>
    </body>
    <body pos="-0.618034 -1.90211 0.5" quat="0.322144 0.127074 0.352035 0.869567">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="0.069799 -1.99878 0.7" quat="0.166252 0.0640135 0.368753 0.912296">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="0.749213 -1.85437 0.9" quat="0.0053073 -0.000992425 0.374267 0.927305">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="1.33826 -1.48629 1.1" quat="-0.155798 -0.0659681 0.368409 0.914139">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="1.7659 -0.938943 1.3" quat="-0.31217 -0.128939 0.351357 0.873197">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="1.98054 -0.278346 1.5" quat="-0.459056 -0.187993 0.323629 0.805724">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="1.9563 0.415823 1.7" quat="-0.591995 -0.241334 0.286067 0.713768">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="1.6961 1.05984 1.9" quat="-0.706946 -0.287343 0.239814 0.600126">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="1.23132 1.57602 2.1" quat="-0.800416 -0.324621 0.186274 0.468249">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
    <body pos="0.618034 1.90211 2.3" quat="-0.869567 -0.352035 0.127074 0.322144">
      <joint type="free"/>
      <geom class="ellipsoid"/>
    </body>
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    <body pos="-1.99513 -0.139513 2.7" quat="-0.306438 -0.570062 -0.164105 -0.744443">
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    <body pos="-1.82709 -0.813473 2.9" quat="-0.172511 -0.532905 -0.260602 -0.786345">
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    <body pos="-1.43868 -1.38932 3.1" quat="-0.0333426 -0.479556 -0.34918 -0.804355">
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    <body pos="-0.876742 -1.79759 3.3" quat="0.106839 -0.411636 -0.42715 -0.797925">
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    <body pos="-0.209057 -1.98904 3.5" quat="0.243774 -0.331208 -0.49214 -0.767251">
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    <body pos="1.11839 -1.65808 3.9" quat="0.491488 -0.142912 -0.57574 -0.637604">
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    <body pos="1.61803 -1.17557 4.1" quat="0.59474 -0.0407649 -0.59181 -0.542572">
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    <body pos="1.92252 -0.551275 4.3" quat="0.679921 0.0626212 -0.589898 -0.431053">
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      <geom class="box"/>
    </body>
    <body name="2_torso" childclass="2_body" pos="1 1 1.282" quat="0.309017 0 0 0.951057">
      <joint name="2_root" type="free" solimplimit="0.9 0.95 0.001" stiffness="0" armature="0" damping="0"/>
      <geom name="2_torso" size="0.07 0.07" quat="0.707107 0.707107 0 0" material="2_body"/>
      <geom name="2_waist_upper" size="0.06 0.06" pos="-0.01 0 -0.12" quat="0.707107 0.707107 0 0" material="2_body"/>
      <camera name="2_back" pos="-3 0 1" quat="0.601501 0.371748 -0.371748 -0.601501" mode="trackcom"/>
      <camera name="2_side" pos="0 -3 1" quat="0.850651 0.525731 0 0" mode="trackcom"/>
      <body name="2_head" pos="0 0 0.19">
        <geom name="2_head" size="0.09" type="sphere" material="2_body"/>
        <camera name="2_egocentric" pos="0.09 0 0" quat="0.524286 0.474472 -0.474472 -0.524286" fovy="80"/>
      </body>
      <body name="2_waist_lower" pos="-0.01 0 -0.26">
        <joint name="2_abdomen_z" class="2_joint_big_stiff" pos="0 0 0.065" axis="0 0 1" range="-0.785398 0.785398"/>
        <joint name="2_abdomen_y" class="2_joint_big" pos="0 0 0.065" axis="0 1 0" range="-1.309 0.523599"/>
        <geom name="2_waist_lower" size="0.06 0.06" quat="0.707107 0.707107 0 0" material="2_body"/>
        <body name="2_pelvis" pos="0 0 -0.165">
          <joint name="2_abdomen_x" class="2_joint_big" pos="0 0 0.1" axis="1 0 0" range="-0.610865 0.610865"/>
          <geom name="2_butt" size="0.09 0.07" pos="-0.02 0 0" quat="0.707107 0.707107 0 0" material="2_body"/>
          <body name="2_thigh_right" pos="0 -0.1 -0.04">
            <joint name="2_hip_x_right" class="2_hip_x" pos="0 0 0" axis="1 0 0" range="-0.523599 0.174533"/>
            <joint name="2_hip_z_right" class="2_hip_z" pos="0 0 0" axis="0 0 1" range="-1.0472 0.610865"/>
            <joint name="2_hip_y_right" class="2_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
            <geom name="2_thigh_right" class="2_thigh" size="0.06 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" material="2_body"/>
            <body name="2_shin_right" pos="0 0.01 -0.4">
              <joint name="2_knee_right" class="2_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
              <geom name="2_shin_right" class="2_shin" size="0.049 0.15" pos="0 0 -0.15" material="2_body"/>
              <body name="2_foot_right" pos="0 0 -0.39">
                <joint name="2_ankle_y_right" class="2_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
                <joint name="2_ankle_x_right" class="2_ankle_x" pos="0 0 0.04" axis="0.894427 0 0.447214" range="-0.872665 0.872665"/>
                <geom name="2_foot1_right" class="2_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="2_body"/>
                <geom name="2_foot2_right" class="2_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="2_body"/>
              </body>
            </body>
          </body>
          <body name="2_thigh_left" pos="0 0.1 -0.04">
            <joint name="2_hip_x_left" class="2_hip_x" pos="0 0 0" axis="-1 0 0" range="-0.523599 0.174533"/>
            <joint name="2_hip_z_left" class="2_hip_z" pos="0 0 0" axis="0 0 -1" range="-1.0472 0.610865"/>
            <joint name="2_hip_y_left" class="2_hip_y" pos="0 0 0" axis="0 1 0" range="-2.61799 0.349066"/>
            <geom name="2_thigh_left" class="2_thigh" size="0.06 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" material="2_body"/>
            <body name="2_shin_left" pos="0 -0.01 -0.4">
              <joint name="2_knee_left" class="2_knee" pos="0 0 0.02" axis="0 -1 0" range="-2.79253 0.0349066"/>
              <geom name="2_shin_left" class="2_shin" size="0.049 0.15" pos="0 0 -0.15" material="2_body"/>
              <body name="2_foot_left" pos="0 0 -0.39">
                <joint name="2_ankle_y_left" class="2_ankle_y" pos="0 0 0.08" axis="0 1 0" range="-0.872665 0.872665"/>
                <joint name="2_ankle_x_left" class="2_ankle_x" pos="0 0 0.04" axis="-0.894427 0 -0.447214" range="-0.872665 0.872665"/>
                <geom name="2_foot1_left" class="2_foot1" size="0.027 0.105475" pos="0.035 -0.02 0" quat="0.707107 -0.0670402 -0.703922 0" material="2_body"/>
                <geom name="2_foot2_left" class="2_foot2" size="0.027 0.105475" pos="0.035 0.02 0" quat="0.707107 0.0670402 -0.703922 0" material="2_body"/>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="2_upper_arm_right" pos="0 -0.17 0.06">
        <joint name="2_shoulder1_right" class="2_shoulder" pos="0 0 0" axis="0.816497 0.408248 0.408248" range="-1.48353 1.0472"/>
        <joint name="2_shoulder2_right" class="2_shoulder" pos="0 0 0" axis="0 -0.707107 0.707107" range="-1.48353 1.0472"/>
        <geom name="2_upper_arm_right" class="2_arm_upper" size="0.04 0.138564" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" material="2_body"/>
        <body name="2_lower_arm_right" pos="0.18 -0.18 -0.18">
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          <geom name="2_lower_arm_right" class="2_arm_lower" size="0.031 0.138564" pos="0.09 0.09 0.09" quat="0.459701 0.627963 -0.627963 0" material="2_body"/>
          <body name="2_hand_right" pos="0.18 0.18 0.18">
            <geom name="2_hand_right" class="2_hand" quat="0.888074 -0.325058 0.325058 0" material="2_body"/>
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        </body>
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      <body name="2_upper_arm_left" pos="0 0.17 0.06">
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        <joint name="2_shoulder2_left" class="2_shoulder" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.48353 1.0472"/>
        <geom name="2_upper_arm_left" class="2_arm_upper" size="0.04 0.138564" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" material="2_body"/>
        <body name="2_lower_arm_left" pos="0.18 0.18 -0.18">
          <joint name="2_elbow_left" class="2_elbow" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.74533 0.872665"/>
          <geom name="2_lower_arm_left" class="2_arm_lower" size="0.031 0.138564" pos="0.09 -0.09 0.09" quat="0.459701 -0.627963 -0.627963 0" material="2_body"/>
          <body name="2_hand_left" pos="0.18 -0.18 0.18">
            <geom name="2_hand_left" class="2_hand" quat="0.888074 0.325058 0.325058 0" material="2_body"/>
          </body>
        </body>
      </body>
    </body>
    <body pos="1.61803 1.17557 0.5" quat="-0.381574 -0.362417 0.390061 0.755585">
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    <body pos="1.11839 1.65808 0.7" quat="-0.506982 -0.424645 0.321202 0.677846">
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    <body pos="0.483844 1.94059 0.9" quat="-0.616987 -0.473969 0.242583 0.579511">
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    <body pos="-0.209057 1.98904 1.1" quat="-0.708245 -0.508893 0.156594 0.463569">
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    <body pos="0.209057 -1.98904 2.9" quat="-0.463569 -0.156594 -0.508893 -0.708245">
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    <body pos="1.43868 -1.38932 3.3" quat="-0.193378 0.0269015 -0.531761 -0.824082">
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    <body pos="1.82709 -0.813473 3.5" quat="-0.0473399 0.118832 -0.519011 -0.845142">
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    <body pos="1.99513 -0.139513 3.7" quat="0.100137 0.207152 -0.490491 -0.840523">
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    <body pos="1.92252 0.551275 3.9" quat="0.244571 0.289178 -0.447068 -0.810365">
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    <body pos="1.61803 1.17557 4.1" quat="0.381574 0.362417 -0.390061 -0.755585">
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    <body pos="1.11839 1.65808 4.3" quat="0.506982 0.424645 -0.321202 -0.677846">
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      <geom class="cylinder"/>
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    <body pos="-0.618034 1.90211 0.5" quat="-0.752821 -0.522474 0.102542 0.386997">
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      <geom class="sphere"/>
    </body>
    <body pos="-1.23132 1.57602 0.7" quat="-0.808585 -0.532342 0.0102578 0.250392">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
    <body pos="-1.6961 1.05984 0.9" quat="-0.839781 -0.526036 -0.0823383 0.106179">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
    <body pos="-1.9563 0.415823 1.1" quat="-0.845461 -0.503747 -0.172433 -0.0412608">
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    <body pos="-1.98054 -0.278346 1.3" quat="-0.825451 -0.466151 -0.257288 -0.187447">
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      <geom class="sphere"/>
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    <body pos="-1.7659 -0.938943 1.5" quat="-0.780361 -0.414392 -0.334325 -0.327937">
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      <geom class="sphere"/>
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    <body pos="-1.33826 -1.48629 1.7" quat="-0.71156 -0.350041 -0.401204 -0.458463">
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      <geom class="sphere"/>
    </body>
    <body pos="-0.749213 -1.85437 1.9" quat="-0.621139 -0.275055 -0.455893 -0.575059">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
    <body pos="-0.069799 -1.99878 2.1" quat="-0.511844 -0.191711 -0.49673 -0.674182">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
    <body pos="0.618034 -1.90211 2.3" quat="-0.386997 -0.102542 -0.522474 -0.752821">
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      <geom class="sphere"/>
    </body>
    <body pos="1.23132 -1.57602 2.5" quat="-0.250392 -0.0102578 -0.532342 -0.808585">
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      <geom class="sphere"/>
    </body>
    <body pos="1.6961 -1.05984 2.7" quat="-0.106179 0.0823383 -0.526036 -0.839781">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
    <body pos="1.9563 -0.415823 2.9" quat="0.0412608 0.172433 -0.503747 -0.845461">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
    <body pos="1.98054 0.278346 3.1" quat="0.187447 0.257288 -0.466151 -0.825451">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
    <body pos="1.7659 0.938943 3.3" quat="0.327937 0.334325 -0.414392 -0.780361">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
    <body pos="1.33826 1.48629 3.5" quat="0.458463 0.401204 -0.350041 -0.71156">
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      <geom class="sphere"/>
    </body>
    <body pos="0.749213 1.85437 3.7" quat="0.575059 0.455893 -0.275055 -0.621139">
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      <geom class="sphere"/>
    </body>
    <body pos="0.069799 1.99878 3.9" quat="0.674182 0.49673 -0.191711 -0.511844">
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      <geom class="sphere"/>
    </body>
    <body pos="-0.618034 1.90211 4.1" quat="0.752821 0.522474 -0.102542 -0.386997">
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      <geom class="sphere"/>
    </body>
    <body pos="-1.23132 1.57602 4.3" quat="0.808585 0.532342 -0.0102578 -0.250392">
      <joint type="free"/>
      <geom class="sphere"/>
    </body>
  </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>
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    <general name="1_hip_z_right" joint="1_hip_z_right" ctrllimited="true" ctrlrange="-1 1" gear="40 0 0 0 0 0"/>
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    <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"/>
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    <general name="1_shoulder2_left" joint="1_shoulder2_left" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
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    <general name="2_ankle_y_right" joint="2_ankle_y_right" ctrllimited="true" ctrlrange="-1 1" gear="20 0 0 0 0 0"/>
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  </actuator>

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