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genrl
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<mujoco model="stickman">
  <include file="./common/skybox.xml"/>
  <include file="./common/visual.xml"/>
  <include file="./common/materials.xml"/>


  <option timestep="0.0025"/>

  <statistic extent="2" center="0 0 1"/>

  <default>
    <joint damping=".1" armature="0.01" limited="true" solimplimit="0 .99 .01"/>
    <geom contype="1" conaffinity="0" friction=".7 .1 .1"/>
    <motor ctrlrange="-1 1" ctrllimited="true"/>
    <site size="0.01"/>
    <default class="stickman">
      <geom material="self" type="capsule"/>
      <joint axis="0 -1 0"/>
    </default>
  </default>

  <worldbody>
    <geom name="floor" type="plane" conaffinity="1" pos="248 0 0" size="250 .8 .2" material="grid" zaxis="0 0 1"/>
    <body name="torso" pos="0 0 1.25" childclass="stickman">
      <light name="light" pos="0 0 2" mode="trackcom"/>
      <camera name="side" pos="0 -2.25 1.0" euler="60 0 0" mode="trackcom"/>
      <camera name="back" pos="-2 0 .5" xyaxes="0 -1 0 1 0 3" mode="trackcom"/>
      <joint name="rootz" axis="0 0 1" type="slide" limited="false" armature="0" damping="0"/>
      <joint name="rootx" axis="1 0 0" type="slide" limited="false" armature="0" damping="0"/>
      <joint name="rooty" axis="0 1 0" type="hinge" limited="false" armature="0" damping="0"/>
      <geom name="torso" size="0.06 0.25"/>

      <body name="neck" pos="0 .0 +0.35">
        <geom name="neck" zaxis="0 0 1" size="0.045 0.045"/>
        <body name="head" pos="0 .0 +0.1">
          <geom name="head" type="sphere" size=".1"/>
        </body>
      </body>

      <body name="right_thigh" pos="0 -.05 -0.25">
        <joint name="right_hip" range="-20 100"/>
        <geom name="right_thigh" pos="0 0 -0.225" size="0.05 0.225"/>
        <body name="right_leg" pos="0 0 -0.7">
          <joint name="right_knee" pos="0 0 0.25" range="-150 0"/>
          <geom name="right_leg" size="0.04 0.25"/>
          <body name="right_foot" pos="0.06 0 -0.25">
            <joint name="right_ankle" pos="-0.06 0 0" range="-45 45"/>
            <geom name="right_foot" zaxis="1 0 0" size="0.04 0.1"/>
          </body>
        </body>
      </body>
      <body name="left_thigh" pos="0 .05 -0.25" >
        <joint name="left_hip" range="-20 100"/>
        <geom name="left_thigh" pos="0 0 -0.225" size="0.05 0.225"/>
        <body name="left_leg" pos="0 0 -0.7">
          <joint name="left_knee" pos="0 0 0.25" range="-150 0"/>
          <geom name="left_leg" size="0.04 0.25"/>
          <body name="left_foot" pos="0.06 0 -0.25">
            <joint name="left_ankle" pos="-0.06 0 0" range="-45 45"/>
            <geom name="left_foot" zaxis="1 0 0" size="0.04 0.1"/>
          </body>
        </body>
      </body>

      <body name="left_arm" pos="0 .05 +0.2">
        <joint name="left_shoulder" range="-20 100"/>
        <geom name="left_arm" pos="0 0 -0.135" size="0.04 0.135"/>
        <body name="left_forearm" pos="0 0 -0.45">
          <joint name="left_elbow" pos="0 0 0.15" range="0 150"/>
          <geom name="left_forearm" size="0.035 0.15"/>
          <body name="left_hand" pos="0.0 0 -0.15">
            <geom name="left_hand" type="sphere" size=".05"/>
          </body>
        </body>
      </body>

      <body name="right_arm" pos="0 -.05 +0.2">
        <joint name="right_shoulder" range="-20 100"/>
        <geom name="right_arm" pos="0 0 -0.135" size="0.04 0.135"/>
        <body name="right_forearm" pos="0 0 -0.45">
          <joint name="right_elbow" pos="0 0 0.15" range="0 150"/>
          <geom name="right_forearm" size="0.035 0.15"/>
          <body name="right_hand" pos="0.0 0 -0.15">
            <geom name="right_hand" type="sphere" size=".05"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <sensor>
    <subtreelinvel name="torso_subtreelinvel" body="torso"/>
  </sensor>

  <actuator>    
    <motor name="right_hip" joint="right_hip" gear="100"/>
    <motor name="right_knee" joint="right_knee" gear="50"/>
    <motor name="right_ankle" joint="right_ankle" gear="20"/>
    <motor name="left_hip" joint="left_hip" gear="100"/>
    <motor name="left_knee" joint="left_knee" gear="50"/>
    <motor name="left_ankle" joint="left_ankle" gear="20"/>

    <motor name="left_shoulder" joint="left_shoulder" gear="100"/>
    <motor name="left_elbow" joint="left_elbow" gear="50"/>
    <motor name="right_shoulder" joint="right_shoulder" gear="100"/>
    <motor name="right_elbow" joint="right_elbow" gear="50"/>
  </actuator>
</mujoco>