<mujoco model="hr30_tether_light4_mass_bound_p01">
  <compiler angle="radian" coordinate="local" />
  <option gravity="0 0 -9.80665" timestep="0.002" />
  <default>
    <joint damping="0.1" armature="0.01" limited="true" />
    <geom type="box" density="0" rgba="0.49 0.83 0.98 1" contype="1" conaffinity="1" />
  </default>
  <worldbody>
    <geom name="floor" type="plane" size="2 2 0.02" rgba="0.85 0.90 0.95 1" />
    <body name="base_link" pos="0.000000 0.000000 0.390000">
      <freejoint name="floating_base" />
      <inertial pos="-0.000852758 0.006729621 0.000736468" mass="1.647263287" diaginertia="0.002186055654 0.003970590881 0.004811381517" />
      <geom name="G_base_link" pos="0.000000 0.000000 0.000000" size="0.077500 0.052500 0.035000" />
      <body name="torso" pos="0.000000 0.000000 0.035000">
        <joint name="WAIST_YAW" type="hinge" axis="0 0 1" range="-0.520000 0.520000" />
        <inertial pos="-0.000527495 0.007025610 0.093925204" mass="0.987371467" diaginertia="0.002725556654 0.004700299588 0.003965942059" />
        <geom name="G_torso" pos="0.000000 0.000000 0.087500" size="0.095000 0.055000 0.072500" />
        <body name="neck_pan_link" pos="0.000000 0.000000 0.225000">
          <joint name="HEAD_PAN" type="hinge" axis="0 0 1" range="-1.400000 1.400000" />
          <inertial pos="-0.001314773 -0.000000622 -0.022742610" mass="0.121150549" diaginertia="0.000063402121 0.000063402121 0.000058879167" />
          <geom name="G_neck_pan_link" pos="0.000000 0.000000 -0.025000" size="0.027000 0.027000 0.029000" />
          <body name="head" pos="0.000000 0.000000 0.040000">
            <joint name="HEAD_TILT" type="hinge" axis="1 0 0" range="-0.520000 0.520000" />
            <inertial pos="-0.001989343 -0.012142257 0.007920400" mass="0.418231118" diaginertia="0.000858907306 0.001221374275 0.001205899724" />
            <geom name="G_head" pos="0.000000 0.000000 0.016000" size="0.075000 0.055000 0.056000" />
          </body>
        </body>
        <body name="L_shoulder_pitch_link" pos="0.090000 0.000000 0.165000">
          <joint name="L_SHOULDER_PITCH" type="hinge" axis="1 0 0" range="-1.570000 1.570000" />
          <inertial pos="0.000167583 0.020509028 -0.004977767" mass="0.191441072" diaginertia="0.000136369857 0.000079192790 0.000108228019" />
          <geom name="G_L_shoulder_pitch_link" pos="0.000000 0.000000 0.000000" size="0.020000 0.036000 0.029000" />
          <body name="L_upper_arm" pos="0.000000 0.000000 0.000000">
            <joint name="L_SHOULDER_ROLL" type="hinge" axis="0 1 0" range="-1.220000 1.220000" />
            <inertial pos="0.010907149 0.000105717 -0.059312118" mass="0.303473336" diaginertia="0.000637395163 0.000637395163 0.000136765317" />
            <geom name="G_L_upper_arm" pos="0.000000 0.000000 -0.072553" size="0.026000 0.026000 0.075000" />
            <body name="L_forearm" pos="0.038000 0.000000 -0.145107">
              <joint name="L_ELBOW_PITCH" type="hinge" axis="1 0 0" range="0.000000 2.200000" />
              <inertial pos="-0.019395316 0.000000000 -0.029625532" mass="0.195138297" diaginertia="0.000382552370 0.000382552370 0.000081307624" />
              <geom name="G_L_forearm" pos="0.005000 0.000000 -0.072457" size="0.025000 0.025000 0.072500" />
              <body name="L_hand" pos="0.005000 0.000000 -0.144914">
                <joint name="L_WRIST_ROTATION" type="hinge" axis="0 0 1" range="-1.570000 1.570000" />
                <inertial pos="-0.000530294 -0.001402093 -0.022960558" mass="0.172069526" diaginertia="0.000084084642 0.000071695636 0.000084084642" />
                <geom name="G_L_hand" pos="0.000000 0.000000 -0.025000" size="0.025000 0.029000 0.025000" />
                <body name="L_gripper" pos="0.000000 0.000000 -0.043000">
                  <joint name="L_GRIPPER" type="slide" axis="1.0 0 0" range="0.000000 0.026000" />
                  <inertial pos="0.004237322 -0.004391719 0.010841361" mass="0.040804195" diaginertia="0.000015029545 0.000013778217 0.000014417482" />
                  <geom name="G_L_gripper" pos="0.000000 0.000000 -0.010000" size="0.022000 0.024000 0.023000" />
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="R_shoulder_pitch_link" pos="-0.090000 0.000000 0.165000">
          <joint name="R_SHOULDER_PITCH" type="hinge" axis="1 0 0" range="-1.570000 1.570000" />
          <inertial pos="0.000167583 0.020509028 -0.004977767" mass="0.191441072" diaginertia="0.000136369857 0.000079192790 0.000108228019" />
          <geom name="G_R_shoulder_pitch_link" pos="0.000000 0.000000 0.000000" size="0.020000 0.036000 0.029000" />
          <body name="R_upper_arm" pos="0.000000 0.000000 0.000000">
            <joint name="R_SHOULDER_ROLL" type="hinge" axis="0 1 0" range="-1.220000 1.220000" />
            <inertial pos="-0.009328024 0.000105717 -0.059312118" mass="0.303473336" diaginertia="0.000637395163 0.000637395163 0.000136765317" />
            <geom name="G_R_upper_arm" pos="0.000000 0.000000 -0.072553" size="0.026000 0.026000 0.075000" />
            <body name="R_forearm" pos="-0.038000 0.000000 -0.145107">
              <joint name="R_ELBOW_PITCH" type="hinge" axis="1 0 0" range="0.000000 2.200000" />
              <inertial pos="0.025992140 0.000000000 -0.029625532" mass="0.195138297" diaginertia="0.000382552370 0.000382552370 0.000081307624" />
              <geom name="G_R_forearm" pos="-0.005000 0.000000 -0.072457" size="0.025000 0.025000 0.072500" />
              <body name="R_hand" pos="-0.005000 0.000000 -0.144914">
                <joint name="R_WRIST_ROTATION" type="hinge" axis="0 0 1" range="-1.570000 1.570000" />
                <inertial pos="-0.001321114 -0.001402093 -0.022960558" mass="0.172069526" diaginertia="0.000084084642 0.000071695636 0.000084084642" />
                <geom name="G_R_hand" pos="0.000000 0.000000 -0.025000" size="0.025000 0.029000 0.025000" />
                <body name="R_gripper" pos="0.000000 0.000000 -0.043000">
                  <joint name="R_GRIPPER" type="slide" axis="-1.0 0 0" range="0.000000 0.026000" />
                  <inertial pos="-0.004241013 -0.004391719 0.010841361" mass="0.040804195" diaginertia="0.000015029545 0.000013778217 0.000014417482" />
                  <geom name="G_R_gripper" pos="0.000000 0.000000 -0.010000" size="0.022000 0.024000 0.023000" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="L_hip_yaw_link" pos="0.062500 0.000000 0.020000">
        <joint name="L_HIP_YAW" type="hinge" axis="0 0 1" range="-0.520000 0.520000" />
        <inertial pos="-0.009947450 0.000000000 -0.038037960" mass="0.249281644" diaginertia="0.000135027557 0.000108022046 0.000176574498" />
        <geom name="G_L_hip_yaw_link" pos="0.000000 0.000000 0.000000" size="0.030000 0.035000 0.020000" />
        <body name="L_hip_roll_link" pos="0.000000 0.000000 -0.020000">
          <joint name="L_HIP_ROLL" type="hinge" axis="0 1 0" range="-0.440000 0.440000" />
          <inertial pos="0.000000000 -0.048609123 -0.048159068" mass="0.361282371" diaginertia="0.000195694618 0.000156555694 0.000255908346" />
          <geom name="G_L_hip_roll_link" pos="0.000000 0.000000 0.000000" size="0.030000 0.035000 0.020000" />
          <body name="L_thigh" pos="0.000000 0.000000 -0.020000">
            <joint name="L_HIP_PITCH" type="hinge" axis="1 0 0" range="-0.610000 0.790000" />
            <inertial pos="0.030558372 0.001349374 -0.068559906" mass="0.633627179" diaginertia="0.001656723864 0.001640883185 0.000594131085" />
            <geom name="G_L_thigh" pos="0.000000 0.000000 -0.080000" size="0.037000 0.038000 0.080000" />
            <body name="L_shin" pos="0.000000 0.000000 -0.160000">
              <joint name="L_KNEE_PITCH" type="hinge" axis="1 0 0" range="0.000000 2.090000" />
              <inertial pos="0.000220559 0.000000000 -0.025652445" mass="0.509954379" diaginertia="0.001113782860 0.001089984989 0.000416802712" />
              <geom name="G_L_shin" pos="0.000000 0.000000 -0.082000" size="0.034000 0.036000 0.072500" />
              <body name="L_ankle_pitch_link" pos="0.000000 0.000000 -0.155000">
                <joint name="L_ANKLE_PITCH" type="hinge" axis="1 0 0" range="-0.610000 0.520000" />
                <inertial pos="0.000123876 0.000000000 0.014885784" mass="0.258987304" diaginertia="0.000146759472 0.000152370864 0.000182413391" />
                <geom name="G_L_ankle_pitch_link" pos="0.000000 0.000000 0.000000" size="0.033000 0.032000 0.026000" />
                <body name="L_foot" pos="0.000000 0.000000 -0.020000">
                  <joint name="L_ANKLE_ROLL" type="hinge" axis="0 1 0" range="-0.350000 0.350000" />
                  <inertial pos="0.000000000 0.005558797 -0.000471396" mass="0.436839241" diaginertia="0.000809972759 0.000339460494 0.001060245241" />
                  <geom name="G_L_foot" pos="0.000000 -0.025000 -0.017500" size="0.045000 0.072500 0.017500" margin="0.001" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="R_hip_yaw_link" pos="-0.062500 0.000000 0.020000">
        <joint name="R_HIP_YAW" type="hinge" axis="0 0 1" range="-0.520000 0.520000" />
        <inertial pos="-0.009947450 0.000000000 -0.038037960" mass="0.249281644" diaginertia="0.000135027557 0.000108022046 0.000176574498" />
        <geom name="G_R_hip_yaw_link" pos="0.000000 0.000000 0.000000" size="0.030000 0.035000 0.020000" />
        <body name="R_hip_roll_link" pos="0.000000 0.000000 -0.020000">
          <joint name="R_HIP_ROLL" type="hinge" axis="0 1 0" range="-0.440000 0.440000" />
          <inertial pos="-0.000000000 -0.048609123 -0.048159068" mass="0.361282371" diaginertia="0.000195694618 0.000156555694 0.000255908346" />
          <geom name="G_R_hip_roll_link" pos="0.000000 0.000000 0.000000" size="0.030000 0.035000 0.020000" />
          <body name="R_thigh" pos="0.000000 0.000000 -0.020000">
            <joint name="R_HIP_PITCH" type="hinge" axis="1 0 0" range="-0.610000 0.790000" />
            <inertial pos="-0.030558371 0.001349374 -0.068559906" mass="0.633627179" diaginertia="0.001656723864 0.001640883185 0.000594131085" />
            <geom name="G_R_thigh" pos="0.000000 0.000000 -0.080000" size="0.037000 0.038000 0.080000" />
            <body name="R_shin" pos="0.000000 0.000000 -0.160000">
              <joint name="R_KNEE_PITCH" type="hinge" axis="1 0 0" range="0.000000 2.090000" />
              <inertial pos="0.000220559 0.000000000 -0.025652445" mass="0.509954379" diaginertia="0.001113782860 0.001089984989 0.000416802712" />
              <geom name="G_R_shin" pos="0.000000 0.000000 -0.082000" size="0.034000 0.036000 0.072500" />
              <body name="R_ankle_pitch_link" pos="0.000000 0.000000 -0.155000">
                <joint name="R_ANKLE_PITCH" type="hinge" axis="1 0 0" range="-0.610000 0.520000" />
                <inertial pos="0.000123876 0.000000000 0.014885784" mass="0.258987304" diaginertia="0.000146759472 0.000152370864 0.000182413391" />
                <geom name="G_R_ankle_pitch_link" pos="0.000000 0.000000 0.000000" size="0.033000 0.032000 0.026000" />
                <body name="R_foot" pos="0.000000 0.000000 -0.020000">
                  <joint name="R_ANKLE_ROLL" type="hinge" axis="0 1 0" range="-0.350000 0.350000" />
                  <inertial pos="0.000000000 0.005558797 -0.000471396" mass="0.436839241" diaginertia="0.000809972759 0.000339460494 0.001060245241" />
                  <geom name="G_R_foot" pos="0.000000 -0.025000 -0.017500" size="0.045000 0.072500 0.017500" margin="0.001" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <contact>
    <exclude body1="L_ankle_pitch_link" body2="L_foot" />
    <exclude body1="L_ankle_pitch_link" body2="L_shin" />
    <exclude body1="L_foot" body2="L_shin" />
    <exclude body1="L_forearm" body2="L_hand" />
    <exclude body1="L_forearm" body2="L_upper_arm" />
    <exclude body1="L_gripper" body2="L_hand" />
    <exclude body1="L_hip_roll_link" body2="L_hip_yaw_link" />
    <exclude body1="L_hip_roll_link" body2="L_thigh" />
    <exclude body1="L_hip_roll_link" body2="base_link" />
    <exclude body1="L_hip_yaw_link" body2="L_thigh" />
    <exclude body1="L_hip_yaw_link" body2="base_link" />
    <exclude body1="L_shin" body2="L_thigh" />
    <exclude body1="L_shoulder_pitch_link" body2="L_upper_arm" />
    <exclude body1="L_shoulder_pitch_link" body2="torso" />
    <exclude body1="L_thigh" body2="base_link" />
    <exclude body1="L_upper_arm" body2="torso" />
    <exclude body1="R_ankle_pitch_link" body2="R_foot" />
    <exclude body1="R_ankle_pitch_link" body2="R_shin" />
    <exclude body1="R_foot" body2="R_shin" />
    <exclude body1="R_forearm" body2="R_hand" />
    <exclude body1="R_forearm" body2="R_upper_arm" />
    <exclude body1="R_gripper" body2="R_hand" />
    <exclude body1="R_hip_roll_link" body2="R_hip_yaw_link" />
    <exclude body1="R_hip_roll_link" body2="R_thigh" />
    <exclude body1="R_hip_roll_link" body2="base_link" />
    <exclude body1="R_hip_yaw_link" body2="R_thigh" />
    <exclude body1="R_hip_yaw_link" body2="base_link" />
    <exclude body1="R_shin" body2="R_thigh" />
    <exclude body1="R_shoulder_pitch_link" body2="R_upper_arm" />
    <exclude body1="R_shoulder_pitch_link" body2="torso" />
    <exclude body1="R_thigh" body2="base_link" />
    <exclude body1="R_upper_arm" body2="torso" />
    <exclude body1="base_link" body2="torso" />
    <exclude body1="head" body2="neck_pan_link" />
    <exclude body1="neck_pan_link" body2="torso" />
  </contact>
  <actuator>
    <motor name="M_WAIST_YAW" joint="WAIST_YAW" ctrllimited="true" ctrlrange="-6.020342000 6.020342000" gear="1" />
    <motor name="M_HEAD_PAN" joint="HEAD_PAN" ctrllimited="true" ctrlrange="-0.795455000 0.795455000" gear="1" />
    <motor name="M_HEAD_TILT" joint="HEAD_TILT" ctrllimited="true" ctrlrange="-0.795455000 0.795455000" gear="1" />
    <motor name="M_L_SHOULDER_PITCH" joint="L_SHOULDER_PITCH" ctrllimited="true" ctrlrange="-4.542629000 4.542629000" gear="1" />
    <motor name="M_L_SHOULDER_ROLL" joint="L_SHOULDER_ROLL" ctrllimited="true" ctrlrange="-4.542629000 4.542629000" gear="1" />
    <motor name="M_L_ELBOW_PITCH" joint="L_ELBOW_PITCH" ctrllimited="true" ctrlrange="-3.562847000 3.562847000" gear="1" />
    <motor name="M_L_WRIST_ROTATION" joint="L_WRIST_ROTATION" ctrllimited="true" ctrlrange="-0.795455000 0.795455000" gear="1" />
    <motor name="M_L_GRIPPER" joint="L_GRIPPER" ctrllimited="true" ctrlrange="-1.000000000 1.000000000" gear="1" />
    <motor name="M_L_HIP_YAW" joint="L_HIP_YAW" ctrllimited="true" ctrlrange="-5.049020000 5.049020000" gear="1" />
    <motor name="M_L_HIP_ROLL" joint="L_HIP_ROLL" ctrllimited="true" ctrlrange="-17.166668000 17.166668000" gear="1" />
    <motor name="M_L_HIP_PITCH" joint="L_HIP_PITCH" ctrllimited="true" ctrlrange="-17.166669333 17.166669333" gear="1" />
    <motor name="M_L_KNEE_PITCH" joint="L_KNEE_PITCH" ctrllimited="true" ctrlrange="-10.729168000 10.729168000" gear="1" />
    <motor name="M_L_ANKLE_PITCH" joint="L_ANKLE_PITCH" ctrllimited="true" ctrlrange="-7.571049000 7.571049000" gear="1" />
    <motor name="M_L_ANKLE_ROLL" joint="L_ANKLE_ROLL" ctrllimited="true" ctrlrange="-6.056839000 6.056839000" gear="1" />
    <motor name="M_R_SHOULDER_PITCH" joint="R_SHOULDER_PITCH" ctrllimited="true" ctrlrange="-4.542629000 4.542629000" gear="1" />
    <motor name="M_R_SHOULDER_ROLL" joint="R_SHOULDER_ROLL" ctrllimited="true" ctrlrange="-4.542629000 4.542629000" gear="1" />
    <motor name="M_R_ELBOW_PITCH" joint="R_ELBOW_PITCH" ctrllimited="true" ctrlrange="-3.562847000 3.562847000" gear="1" />
    <motor name="M_R_WRIST_ROTATION" joint="R_WRIST_ROTATION" ctrllimited="true" ctrlrange="-0.795455000 0.795455000" gear="1" />
    <motor name="M_R_GRIPPER" joint="R_GRIPPER" ctrllimited="true" ctrlrange="-1.000000000 1.000000000" gear="1" />
    <motor name="M_R_HIP_YAW" joint="R_HIP_YAW" ctrllimited="true" ctrlrange="-5.049020000 5.049020000" gear="1" />
    <motor name="M_R_HIP_ROLL" joint="R_HIP_ROLL" ctrllimited="true" ctrlrange="-17.166668000 17.166668000" gear="1" />
    <motor name="M_R_HIP_PITCH" joint="R_HIP_PITCH" ctrllimited="true" ctrlrange="-17.166669333 17.166669333" gear="1" />
    <motor name="M_R_KNEE_PITCH" joint="R_KNEE_PITCH" ctrllimited="true" ctrlrange="-10.729168000 10.729168000" gear="1" />
    <motor name="M_R_ANKLE_PITCH" joint="R_ANKLE_PITCH" ctrllimited="true" ctrlrange="-7.571049000 7.571049000" gear="1" />
    <motor name="M_R_ANKLE_ROLL" joint="R_ANKLE_ROLL" ctrllimited="true" ctrlrange="-6.056839000 6.056839000" gear="1" />
  </actuator>
  <custom>
    <text name="configuration" data="HR30-TETHER-LIGHT4-P0.1" />
    <text name="mass_boundary" data="LIGHT4 CAD inventory replaces four predecessor hip inventories; physical mass/inertia open" />
  </custom>
</mujoco>
