<mujoco model="hr30_whole_body_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="-8.583334000 8.583334000" gear="1" />
    <motor name="M_L_HIP_PITCH" joint="L_HIP_PITCH" ctrllimited="true" ctrlrange="-6.437501000 6.437501000" 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="-8.583334000 8.583334000" gear="1" />
    <motor name="M_R_HIP_PITCH" joint="R_HIP_PITCH" ctrllimited="true" ctrlrange="-6.437501000 6.437501000" 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" />
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