<mujoco model="hr30_hip4_control_successor_p01">
  <compiler angle="radian" coordinate="local" />
  <option gravity="0 0 -9.80665" timestep="0.002000" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" />
  <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="-0.000853 0.006730 0.000736" mass="1.647263" diaginertia="0.002186056 0.003970591 0.004811382" />
      <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="-0.000527 0.007026 0.093925" mass="0.987371" diaginertia="0.002725557 0.004700300 0.003965942" />
        <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="-0.001315 -0.000001 -0.022743" mass="0.121151" diaginertia="0.000063402 0.000063402 0.000058879" />
          <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="-0.001989 -0.012142 0.007920" mass="0.418231" diaginertia="0.000858907 0.001221374 0.001205900" />
            <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="0.000168 0.020509 -0.004978" mass="0.191441" diaginertia="0.000136370 0.000079193 0.000108228" />
          <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="0.010907 0.000106 -0.059312" mass="0.303473" diaginertia="0.000637395 0.000637395 0.000136765" />
            <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="-0.019395 0.000000 -0.029626" mass="0.195138" diaginertia="0.000382552 0.000382552 0.000081308" />
              <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="-0.000530 -0.001402 -0.022961" mass="0.172070" diaginertia="0.000084085 0.000071696 0.000084085" />
                <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" stiffness="100" springref="0.010" damping="5" />
                  <inertial pos="0.004237 -0.004392 0.010841" mass="0.040804" diaginertia="0.000015030 0.000013778 0.000014417" />
                  <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="0.000168 0.020509 -0.004978" mass="0.191441" diaginertia="0.000136370 0.000079193 0.000108228" />
          <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="-0.009328 0.000106 -0.059312" mass="0.303473" diaginertia="0.000637395 0.000637395 0.000136765" />
            <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="0.025992 0.000000 -0.029626" mass="0.195138" diaginertia="0.000382552 0.000382552 0.000081308" />
              <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="-0.001321 -0.001402 -0.022961" mass="0.172070" diaginertia="0.000084085 0.000071696 0.000084085" />
                <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" stiffness="100" springref="0.010" damping="5" />
                  <inertial pos="-0.004241 -0.004392 0.010841" mass="0.040804" diaginertia="0.000015030 0.000013778 0.000014417" />
                  <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="-0.009947 0.000000 -0.038038" mass="0.249282" diaginertia="0.000135028 0.000108022 0.000176574" />
        <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="0.000000 0.000327 -0.033295" mass="0.343564" diaginertia="0.000186097 0.000148878 0.000243358" />
          <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="0.000167 0.001266 -0.054216" mass="0.675468" diaginertia="0.001766124 0.001749237 0.000633364" />
            <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="0.000221 0.000000 -0.025652" mass="0.509954" diaginertia="0.001113783 0.001089985 0.000416803" />
              <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="0.000124 0.000000 0.014886" mass="0.258987" diaginertia="0.000146759 0.000152371 0.000182413" />
                <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="0.000000 0.005559 -0.000471" mass="0.436839" diaginertia="0.000809973 0.000339460 0.001060245" />
                  <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="-0.009947 0.000000 -0.038038" mass="0.249282" diaginertia="0.000135028 0.000108022 0.000176574" />
        <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="-0.000000 0.000327 -0.033295" mass="0.343564" diaginertia="0.000186097 0.000148878 0.000243358" />
          <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="0.000167 0.001266 -0.054216" mass="0.675468" diaginertia="0.001766124 0.001749237 0.000633364" />
            <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="0.000221 0.000000 -0.025652" mass="0.509954" diaginertia="0.001113783 0.001089985 0.000416803" />
              <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="0.000124 0.000000 0.014886" mass="0.258987" diaginertia="0.000146759 0.000152371 0.000182413" />
                <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="-0.000000 0.005559 -0.000471" mass="0.436839" diaginertia="0.000809973 0.000339460 0.001060245" />
                  <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>
    <body name="trajectory_fixture" mocap="true" pos="0 0 0.390000" />
  </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>
  <equality>
    <weld name="ideal_6dof_trajectory_fixture" body1="trajectory_fixture" body2="base_link" solref="0.01 1" solimp="0.90 0.95 0.001" />
  </equality>
  <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>
  <keyframe>
    <key name="WS-R01_00_P00_NEUTRAL_STAND" qpos="0.000000000 0.000000000 0.390000000 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.010000000 0.000000000 0.000000000 0.000000000 0.000000000 0.010000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000" />
    <key name="WS-R01_01_P01_CROUCHED_STAND" qpos="0.000000000 0.000000000 0.386934442 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.010000000 0.000000000 0.000000000 0.000000000 0.000000000 0.010000000 0.000000000 0.000000000 -0.139626340 0.279252680 -0.139626340 0.000000000 0.000000000 0.000000000 -0.139626340 0.279252680 -0.139626340 0.000000000" />
    <key name="WS-R01_02_P02_LEFT_WEIGHT_TRANSFER" qpos="0.050000000 0.000000000 0.386100631 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 -0.209439510 0.000000000 0.000000000 0.010000000 0.000000000 0.209439510 0.000000000 0.000000000 0.010000000 0.000000000 0.148352986 0.000000000 0.000000000 0.000000000 -0.148352986 0.000000000 0.148352986 0.000000000 0.000000000 0.000000000 -0.148352986" />
    <key name="WS-R01_03_P03_RIGHT_FOOT_LIFT" qpos="0.050000000 0.000000000 0.386100631 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 -0.209439510 0.000000000 0.000000000 0.010000000 0.000000000 0.209439510 0.000000000 0.000000000 0.010000000 0.000000000 0.148352986 0.000000000 0.000000000 0.000000000 -0.148352986 0.000000000 0.148352986 -0.209439510 0.418879020 -0.209439510 -0.148352986" />
    <key name="WS-R01_04_P04_RIGHT_CAPTURE_STEP" qpos="0.050000000 0.000000000 0.386100631 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 -0.209439510 0.000000000 0.261799388 0.000000000 0.010000000 0.209439510 0.000000000 0.261799388 0.000000000 0.010000000 0.000000000 0.148352986 0.000000000 0.000000000 0.000000000 -0.148352986 0.000000000 0.148352986 -0.436332313 0.610865238 -0.174532925 -0.148352986" />
    <key name="WS-R01_05_P08_RIGHT_TOUCHDOWN" qpos="0.050000000 -0.020000000 0.385472053 1.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 -0.139626340 -0.209439510 0.000000000 0.000000000 0.010000000 0.139626340 0.209439510 0.000000000 0.000000000 0.010000000 0.000000000 0.148352986 0.063528850 0.000012287 -0.063541120 -0.148352986 0.000000000 0.148352986 -0.063538031 0.000006754 0.063531276 -0.148352986" />
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  </keyframe>
  <custom>
    <text name="successor_boundary" data="4:1 hip pitch and hip roll sizing scenario; transmission inertia/backlash/efficiency dynamics not modeled" />
    <text name="baseline_cap_hash" data="4b0919db805829612f32254798fc15cb1bfec58dc16111a43e1705f187989ca4" />
    <text name="control_successor" data="inverse feedforward plus kp_factor=8.0 kd_factor=0.8" />
    <text name="authority_boundary" data="numerical candidate only; no physical motion or walking authority" />
  </custom>
</mujoco>
