PCEI-Robotics / ninja_course.xml

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<mujoco model="humanoid_ninja_warrior">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option timestep="0.005" iterations="50" solver="Newton" gravity="0 0 -9.81"/>

  <default>
    <joint limited="true" damping="1.0" armature="0.01" stiffness="0"/>
    <geom condim="3" friction="1.2 0.1 0.1" solref="0.015 1.0" solimp="0.9 0.95 0.001"/>
    <motor ctrlrange="-1.0 1.0" ctrllimited="true"/>
  </default>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0.1 0.15 0.2" width="512" height="512"/>
    <texture name="grid" type="2d" builtin="checker" rgb1="0.15 0.17 0.22" rgb2="0.22 0.25 0.32" width="512" height="512" mark="edge" markrgb="0.8 0.8 0.8"/>
    <material name="grid_mat" texture="grid" texrepeat="2 2" reflectance="0.1"/>
    <material name="body_mat" rgba="0.2 0.7 0.9 1.0" shininess="0.5"/>
    <material name="joint_mat" rgba="0.9 0.4 0.1 1.0"/>
    <material name="foot_mat" rgba="0.1 0.2 0.3 1.0"/>
    <material name="course_mat" rgba="0.85 0.25 0.2 1.0"/>
    <material name="beam_mat" rgba="0.95 0.75 0.1 1.0"/>
    <material name="barrier_mat" rgba="0.7 0.2 0.8 1.0"/>
    <material name="finish_mat" rgba="0.1 0.85 0.3 1.0"/>
  </asset>

  <worldbody>
    <light directional="true" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" pos="0 0 10" dir="0 0 -1"/>
    <light directional="true" diffuse="0.4 0.4 0.4" pos="25 0 10" dir="-0.3 0 -0.9"/>
    
    <!-- Floor / Pit -->
    <geom name="floor" type="plane" size="60 10 0.1" material="grid_mat"/>

    <!-- ═════════════════════════════════════════════════════════════════════════ -->
    <!-- AMERICAN NINJA WARRIOR OBSTACLE COURSE                                  -->
    <!-- ═════════════════════════════════════════════════════════════════════════ -->

    <!-- STAGE 0: Acceleration Runway (X: -2 to 8m, Z=0) -->
    <geom name="start_line" type="box" pos="0 0 0.01" size="0.2 2.0 0.01" rgba="1 1 1 0.8"/>
    <geom name="runway_guide_l" type="box" pos="4 1.8 0.05" size="4.0 0.05 0.05" rgba="0.5 0.5 0.5 0.5"/>
    <geom name="runway_guide_r" type="box" pos="4 -1.8 0.05" size="4.0 0.05 0.05" rgba="0.5 0.5 0.5 0.5"/>

    <!-- STAGE 1: Quad Steps / Angled Stepping Stones (X: 8 to 18m) -->
    <geom name="step_1" type="box" pos="10.0 -0.6 0.2" size="0.8 0.6 0.2" euler="0 0 15" material="course_mat"/>
    <geom name="step_2" type="box" pos="12.2  0.6 0.3" size="0.8 0.6 0.3" euler="0 0 -15" material="course_mat"/>
    <geom name="step_3" type="box" pos="14.4 -0.5 0.35" size="0.8 0.6 0.35" euler="0 0 15" material="course_mat"/>
    <geom name="step_4" type="box" pos="16.6  0.5 0.4" size="0.8 0.6 0.4" euler="0 0 -15" material="course_mat"/>
    <geom name="platform_mid1" type="box" pos="18.5 0 0.45" size="1.0 1.2 0.45" material="course_mat"/>

    <!-- STAGE 2: Elevated Balance Beam (X: 19.5 to 27.5m, Z=0.5m, width=0.35m) -->
    <geom name="balance_beam" type="box" pos="23.5 0 0.5" size="4.0 0.25 0.5" material="beam_mat"/>
    <geom name="platform_mid2" type="box" pos="28.5 0 0.5" size="1.0 1.5 0.5" material="course_mat"/>

    <!-- STAGE 3: Hurdles & Stepping Barriers (X: 29.5 to 38m) -->
    <geom name="hurdle_1" type="box" pos="31.5 0 0.2" size="0.1 1.5 0.2" material="barrier_mat"/>
    <geom name="hurdle_2" type="box" pos="34.5 0 0.28" size="0.1 1.5 0.28" material="barrier_mat"/>
    <geom name="hurdle_3" type="box" pos="37.5 0 0.22" size="0.1 1.5 0.22" material="barrier_mat"/>

    <!-- STAGE 4: Warped Wall Incline Ramp & Summit (X: 38 to 48m) -->
    <geom name="ramp_entry" type="box" pos="40.0 0 0.3" size="1.5 1.5 0.1" euler="0 15 0" material="course_mat"/>
    <geom name="ramp_mid" type="box" pos="42.5 0 0.7" size="1.2 1.5 0.1" euler="0 25 0" material="course_mat"/>
    <geom name="summit_platform" type="box" pos="46.0 0 1.2" size="2.5 2.0 1.2" material="finish_mat"/>
    <!-- Finish Buzzer Marker -->
    <geom name="finish_buzzer" type="cylinder" pos="47.5 0 2.45" size="0.3 0.05" rgba="1 0.1 0.1 1"/>

    <!-- Tracking cameras for viewing -->
    <camera name="track_cam" mode="trackcom" pos="0 -4.5 2.0" xyaxes="1 0 0 0 0.4 1"/>
    <camera name="behind_cam" mode="trackcom" pos="-3.6 0 1.8" xyaxes="0 -1 0 0.3 0 1"/>
    <camera name="front_cam" mode="trackcom" pos="4.0 0 1.8" xyaxes="0 1 0 -0.3 0 1"/>
    <camera name="aerial_cam" mode="fixed" pos="24 0 36" fovy="60" xyaxes="1 0 0 0 1 0"/>

    <!-- ═════════════════════════════════════════════════════════════════════════ -->
    <!-- BIPEDAL HUMANOID AGENT                                                  -->
    <!-- ═════════════════════════════════════════════════════════════════════════ -->
    <body name="torso" pos="0 0 1.4">
      <freejoint name="root"/>
      <geom name="torso_geom" type="capsule" fromto="0 -0.07 0 0 0.07 0" size="0.11" material="body_mat"/>
      <geom name="chest_geom" type="capsule" fromto="0 -0.12 0.2 0 0.12 0.2" size="0.13" material="body_mat"/>
      
      <!-- Head with forward vision mount -->
      <body name="head" pos="0 0 0.38">
        <geom name="head_geom" type="sphere" size="0.11" material="joint_mat"/>
        <geom name="visor" type="capsule" fromto="0.08 -0.06 0 0.08 0.06 0" size="0.03" rgba="0.1 0.9 0.9 1"/>
        <camera name="eye_cam" pos="0.15 0 0" xyaxes="0 -1 0 0 0 1" fovy="50"/>
      </body>

      <!-- Abdomen / Pelvis -->
      <body name="pelvis" pos="0 0 -0.22">
        <joint name="abdomen_z" type="hinge" axis="0 0 1" range="-45 45"/>
        <joint name="abdomen_y" type="hinge" axis="0 1 0" range="-30 30"/>
        <joint name="abdomen_x" type="hinge" axis="1 0 0" range="-35 35"/>
        <geom name="pelvis_geom" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.12" material="body_mat"/>

        <!-- RIGHT LEG -->
        <body name="right_thigh" pos="0 -0.12 -0.12">
          <joint name="right_hip_x" type="hinge" axis="1 0 0" range="-35 25"/>
          <joint name="right_hip_z" type="hinge" axis="0 0 1" range="-35 35"/>
          <joint name="right_hip_y" type="hinge" axis="0 1 0" range="-130 35"/>
          <geom name="right_thigh_geom" type="capsule" fromto="0 0 0 0 0 -0.36" size="0.07" material="body_mat"/>

          <body name="right_shin" pos="0 0 -0.38">
            <joint name="right_knee" type="hinge" axis="0 1 0" range="0 140"/>
            <geom name="right_shin_geom" type="capsule" fromto="0 0 0 0 0 -0.34" size="0.055" material="body_mat"/>

            <body name="right_foot" pos="0.04 0 -0.38">
              <joint name="right_ankle_y" type="hinge" axis="0 1 0" range="-45 45"/>
              <joint name="right_ankle_x" type="hinge" axis="1 0 0" range="-25 25"/>
              <!-- Rectangular foot sole for solid contact mechanics -->
              <geom name="right_foot_geom" type="box" pos="0.04 0 -0.03" size="0.11 0.055 0.03" material="foot_mat"/>
              <site name="right_foot_site" pos="0.04 0 -0.05" size="0.08 0.04 0.01" type="box"/>
            </body>
          </body>
        </body>

        <!-- LEFT LEG -->
        <body name="left_thigh" pos="0 0.12 -0.12">
          <joint name="left_hip_x" type="hinge" axis="1 0 0" range="-25 35"/>
          <joint name="left_hip_z" type="hinge" axis="0 0 1" range="-35 35"/>
          <joint name="left_hip_y" type="hinge" axis="0 1 0" range="-130 35"/>
          <geom name="left_thigh_geom" type="capsule" fromto="0 0 0 0 0 -0.36" size="0.07" material="body_mat"/>

          <body name="left_shin" pos="0 0 -0.38">
            <joint name="left_knee" type="hinge" axis="0 1 0" range="0 140"/>
            <geom name="left_shin_geom" type="capsule" fromto="0 0 0 0 0 -0.34" size="0.055" material="body_mat"/>

            <body name="left_foot" pos="0.04 0 -0.38">
              <joint name="left_ankle_y" type="hinge" axis="0 1 0" range="-45 45"/>
              <joint name="left_ankle_x" type="hinge" axis="1 0 0" range="-25 25"/>
              <geom name="left_foot_geom" type="box" pos="0.04 0 -0.03" size="0.11 0.055 0.03" material="foot_mat"/>
              <site name="left_foot_site" pos="0.04 0 -0.05" size="0.08 0.04 0.01" type="box"/>
            </body>
          </body>
        </body>
      </body>

      <!-- RIGHT ARM -->
      <body name="right_upper_arm" pos="0 -0.2 0.2">
        <joint name="right_shoulder_x" type="hinge" axis="1 0 0" range="-85 60"/>
        <joint name="right_shoulder_y" type="hinge" axis="0 1 0" range="-90 90"/>
        <geom name="right_uarm_geom" type="capsule" fromto="0 0 0 0 -0.26 0" size="0.045" material="body_mat"/>

        <body name="right_lower_arm" pos="0 -0.28 0">
          <joint name="right_elbow" type="hinge" axis="0 0 1" range="-90 50"/>
          <geom name="right_larm_geom" type="capsule" fromto="0 0 0 0 -0.22 0" size="0.04" material="body_mat"/>
          <geom name="right_hand" type="sphere" pos="0 -0.25 0" size="0.05" material="joint_mat"/>
        </body>
      </body>

      <!-- LEFT ARM -->
      <body name="left_upper_arm" pos="0 0.2 0.2">
        <joint name="left_shoulder_x" type="hinge" axis="1 0 0" range="-60 85"/>
        <joint name="left_shoulder_y" type="hinge" axis="0 1 0" range="-90 90"/>
        <geom name="left_uarm_geom" type="capsule" fromto="0 0 0 0 0.26 0" size="0.045" material="body_mat"/>

        <body name="left_lower_arm" pos="0 0.28 0">
          <joint name="left_elbow" type="hinge" axis="0 0 1" range="-50 90"/>
          <geom name="left_larm_geom" type="capsule" fromto="0 0 0 0 0.22 0" size="0.04" material="body_mat"/>
          <geom name="left_hand" type="sphere" pos="0 0.25 0" size="0.05" material="joint_mat"/>
        </body>
      </body>

    </body>
  </worldbody>

  <!-- ═════════════════════════════════════════════════════════════════════════ -->
  <!-- 21 ACTUATORS (TORQUE CONTROL)                                           -->
  <!-- ═════════════════════════════════════════════════════════════════════════ -->
  <actuator>
    <!-- Abdomen (Core Stabilization: 160 Nm authority for 46.75 kg upper body) -->
    <motor name="act_abdomen_z" joint="abdomen_z" gear="120"/>
    <motor name="act_abdomen_y" joint="abdomen_y" gear="160"/>
    <motor name="act_abdomen_x" joint="abdomen_x" gear="160"/>
    
    <!-- Right Leg -->
    <motor name="act_right_hip_x" joint="right_hip_x" gear="160"/>
    <motor name="act_right_hip_z" joint="right_hip_z" gear="160"/>
    <motor name="act_right_hip_y" joint="right_hip_y" gear="260"/>
    <motor name="act_right_knee" joint="right_knee" gear="260"/>
    <motor name="act_right_ankle_y" joint="right_ankle_y" gear="100"/>
    <motor name="act_right_ankle_x" joint="right_ankle_x" gear="100"/>
    
    <!-- Left Leg -->
    <motor name="act_left_hip_x" joint="left_hip_x" gear="160"/>
    <motor name="act_left_hip_z" joint="left_hip_z" gear="160"/>
    <motor name="act_left_hip_y" joint="left_hip_y" gear="260"/>
    <motor name="act_left_knee" joint="left_knee" gear="260"/>
    <motor name="act_left_ankle_y" joint="left_ankle_y" gear="100"/>
    <motor name="act_left_ankle_x" joint="left_ankle_x" gear="100"/>

    <!-- Arms -->
    <motor name="act_right_shoulder_x" joint="right_shoulder_x" gear="50"/>
    <motor name="act_right_shoulder_y" joint="right_shoulder_y" gear="50"/>
    <motor name="act_right_elbow" joint="right_elbow" gear="50"/>
    
    <motor name="act_left_shoulder_x" joint="left_shoulder_x" gear="50"/>
    <motor name="act_left_shoulder_y" joint="left_shoulder_y" gear="50"/>
    <motor name="act_left_elbow" joint="left_elbow" gear="50"/>
  </actuator>

  <!-- Ground contact sensors on feet -->
  <sensor>
    <touch name="sensor_right_foot" site="right_foot_site"/>
    <touch name="sensor_left_foot" site="left_foot_site"/>
  </sensor>
</mujoco>

	<mujoco model="humanoid_ninja_warrior">
	<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
	<option timestep="0.005" iterations="50" solver="Newton" gravity="0 0 -9.81"/>

	<default>
	<joint limited="true" damping="1.0" armature="0.01" stiffness="0"/>
	<geom condim="3" friction="1.2 0.1 0.1" solref="0.015 1.0" solimp="0.9 0.95 0.001"/>
	<motor ctrlrange="-1.0 1.0" ctrllimited="true"/>
	</default>

	<asset>
	<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0.1 0.15 0.2" width="512" height="512"/>
	<texture name="grid" type="2d" builtin="checker" rgb1="0.15 0.17 0.22" rgb2="0.22 0.25 0.32" width="512" height="512" mark="edge" markrgb="0.8 0.8 0.8"/>
	<material name="grid_mat" texture="grid" texrepeat="2 2" reflectance="0.1"/>
	<material name="body_mat" rgba="0.2 0.7 0.9 1.0" shininess="0.5"/>
	<material name="joint_mat" rgba="0.9 0.4 0.1 1.0"/>
	<material name="foot_mat" rgba="0.1 0.2 0.3 1.0"/>
	<material name="course_mat" rgba="0.85 0.25 0.2 1.0"/>
	<material name="beam_mat" rgba="0.95 0.75 0.1 1.0"/>
	<material name="barrier_mat" rgba="0.7 0.2 0.8 1.0"/>
	<material name="finish_mat" rgba="0.1 0.85 0.3 1.0"/>
	</asset>

	<worldbody>
	<light directional="true" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" pos="0 0 10" dir="0 0 -1"/>
	<light directional="true" diffuse="0.4 0.4 0.4" pos="25 0 10" dir="-0.3 0 -0.9"/>

	<!-- Floor / Pit -->
	<geom name="floor" type="plane" size="60 10 0.1" material="grid_mat"/>

	<!-- ═════════════════════════════════════════════════════════════════════════ -->
	<!-- AMERICAN NINJA WARRIOR OBSTACLE COURSE -->
	<!-- ═════════════════════════════════════════════════════════════════════════ -->

	<!-- STAGE 0: Acceleration Runway (X: -2 to 8m, Z=0) -->
	<geom name="start_line" type="box" pos="0 0 0.01" size="0.2 2.0 0.01" rgba="1 1 1 0.8"/>
	<geom name="runway_guide_l" type="box" pos="4 1.8 0.05" size="4.0 0.05 0.05" rgba="0.5 0.5 0.5 0.5"/>
	<geom name="runway_guide_r" type="box" pos="4 -1.8 0.05" size="4.0 0.05 0.05" rgba="0.5 0.5 0.5 0.5"/>

	<!-- STAGE 1: Quad Steps / Angled Stepping Stones (X: 8 to 18m) -->
	<geom name="step_1" type="box" pos="10.0 -0.6 0.2" size="0.8 0.6 0.2" euler="0 0 15" material="course_mat"/>
	<geom name="step_2" type="box" pos="12.2 0.6 0.3" size="0.8 0.6 0.3" euler="0 0 -15" material="course_mat"/>
	<geom name="step_3" type="box" pos="14.4 -0.5 0.35" size="0.8 0.6 0.35" euler="0 0 15" material="course_mat"/>
	<geom name="step_4" type="box" pos="16.6 0.5 0.4" size="0.8 0.6 0.4" euler="0 0 -15" material="course_mat"/>
	<geom name="platform_mid1" type="box" pos="18.5 0 0.45" size="1.0 1.2 0.45" material="course_mat"/>

	<!-- STAGE 2: Elevated Balance Beam (X: 19.5 to 27.5m, Z=0.5m, width=0.35m) -->
	<geom name="balance_beam" type="box" pos="23.5 0 0.5" size="4.0 0.25 0.5" material="beam_mat"/>
	<geom name="platform_mid2" type="box" pos="28.5 0 0.5" size="1.0 1.5 0.5" material="course_mat"/>

	<!-- STAGE 3: Hurdles & Stepping Barriers (X: 29.5 to 38m) -->
	<geom name="hurdle_1" type="box" pos="31.5 0 0.2" size="0.1 1.5 0.2" material="barrier_mat"/>
	<geom name="hurdle_2" type="box" pos="34.5 0 0.28" size="0.1 1.5 0.28" material="barrier_mat"/>
	<geom name="hurdle_3" type="box" pos="37.5 0 0.22" size="0.1 1.5 0.22" material="barrier_mat"/>

	<!-- STAGE 4: Warped Wall Incline Ramp & Summit (X: 38 to 48m) -->
	<geom name="ramp_entry" type="box" pos="40.0 0 0.3" size="1.5 1.5 0.1" euler="0 15 0" material="course_mat"/>
	<geom name="ramp_mid" type="box" pos="42.5 0 0.7" size="1.2 1.5 0.1" euler="0 25 0" material="course_mat"/>
	<geom name="summit_platform" type="box" pos="46.0 0 1.2" size="2.5 2.0 1.2" material="finish_mat"/>
	<!-- Finish Buzzer Marker -->
	<geom name="finish_buzzer" type="cylinder" pos="47.5 0 2.45" size="0.3 0.05" rgba="1 0.1 0.1 1"/>

	<!-- Tracking cameras for viewing -->
	<camera name="track_cam" mode="trackcom" pos="0 -4.5 2.0" xyaxes="1 0 0 0 0.4 1"/>
	<camera name="behind_cam" mode="trackcom" pos="-3.6 0 1.8" xyaxes="0 -1 0 0.3 0 1"/>
	<camera name="front_cam" mode="trackcom" pos="4.0 0 1.8" xyaxes="0 1 0 -0.3 0 1"/>
	<camera name="aerial_cam" mode="fixed" pos="24 0 36" fovy="60" xyaxes="1 0 0 0 1 0"/>

	<!-- ═════════════════════════════════════════════════════════════════════════ -->
	<!-- BIPEDAL HUMANOID AGENT -->
	<!-- ═════════════════════════════════════════════════════════════════════════ -->
	<body name="torso" pos="0 0 1.4">
	<freejoint name="root"/>
	<geom name="torso_geom" type="capsule" fromto="0 -0.07 0 0 0.07 0" size="0.11" material="body_mat"/>
	<geom name="chest_geom" type="capsule" fromto="0 -0.12 0.2 0 0.12 0.2" size="0.13" material="body_mat"/>

	<!-- Head with forward vision mount -->
	<body name="head" pos="0 0 0.38">
	<geom name="head_geom" type="sphere" size="0.11" material="joint_mat"/>
	<geom name="visor" type="capsule" fromto="0.08 -0.06 0 0.08 0.06 0" size="0.03" rgba="0.1 0.9 0.9 1"/>
	<camera name="eye_cam" pos="0.15 0 0" xyaxes="0 -1 0 0 0 1" fovy="50"/>
	</body>

	<!-- Abdomen / Pelvis -->
	<body name="pelvis" pos="0 0 -0.22">
	<joint name="abdomen_z" type="hinge" axis="0 0 1" range="-45 45"/>
	<joint name="abdomen_y" type="hinge" axis="0 1 0" range="-30 30"/>
	<joint name="abdomen_x" type="hinge" axis="1 0 0" range="-35 35"/>
	<geom name="pelvis_geom" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.12" material="body_mat"/>

	<!-- RIGHT LEG -->
	<body name="right_thigh" pos="0 -0.12 -0.12">
	<joint name="right_hip_x" type="hinge" axis="1 0 0" range="-35 25"/>
	<joint name="right_hip_z" type="hinge" axis="0 0 1" range="-35 35"/>
	<joint name="right_hip_y" type="hinge" axis="0 1 0" range="-130 35"/>
	<geom name="right_thigh_geom" type="capsule" fromto="0 0 0 0 0 -0.36" size="0.07" material="body_mat"/>

	<body name="right_shin" pos="0 0 -0.38">
	<joint name="right_knee" type="hinge" axis="0 1 0" range="0 140"/>
	<geom name="right_shin_geom" type="capsule" fromto="0 0 0 0 0 -0.34" size="0.055" material="body_mat"/>

	<body name="right_foot" pos="0.04 0 -0.38">
	<joint name="right_ankle_y" type="hinge" axis="0 1 0" range="-45 45"/>
	<joint name="right_ankle_x" type="hinge" axis="1 0 0" range="-25 25"/>
	<!-- Rectangular foot sole for solid contact mechanics -->
	<geom name="right_foot_geom" type="box" pos="0.04 0 -0.03" size="0.11 0.055 0.03" material="foot_mat"/>
	<site name="right_foot_site" pos="0.04 0 -0.05" size="0.08 0.04 0.01" type="box"/>
	</body>
	</body>
	</body>

	<!-- LEFT LEG -->
	<body name="left_thigh" pos="0 0.12 -0.12">
	<joint name="left_hip_x" type="hinge" axis="1 0 0" range="-25 35"/>
	<joint name="left_hip_z" type="hinge" axis="0 0 1" range="-35 35"/>
	<joint name="left_hip_y" type="hinge" axis="0 1 0" range="-130 35"/>
	<geom name="left_thigh_geom" type="capsule" fromto="0 0 0 0 0 -0.36" size="0.07" material="body_mat"/>

	<body name="left_shin" pos="0 0 -0.38">
	<joint name="left_knee" type="hinge" axis="0 1 0" range="0 140"/>
	<geom name="left_shin_geom" type="capsule" fromto="0 0 0 0 0 -0.34" size="0.055" material="body_mat"/>

	<body name="left_foot" pos="0.04 0 -0.38">
	<joint name="left_ankle_y" type="hinge" axis="0 1 0" range="-45 45"/>
	<joint name="left_ankle_x" type="hinge" axis="1 0 0" range="-25 25"/>
	<geom name="left_foot_geom" type="box" pos="0.04 0 -0.03" size="0.11 0.055 0.03" material="foot_mat"/>
	<site name="left_foot_site" pos="0.04 0 -0.05" size="0.08 0.04 0.01" type="box"/>
	</body>
	</body>
	</body>
	</body>

	<!-- RIGHT ARM -->
	<body name="right_upper_arm" pos="0 -0.2 0.2">
	<joint name="right_shoulder_x" type="hinge" axis="1 0 0" range="-85 60"/>
	<joint name="right_shoulder_y" type="hinge" axis="0 1 0" range="-90 90"/>
	<geom name="right_uarm_geom" type="capsule" fromto="0 0 0 0 -0.26 0" size="0.045" material="body_mat"/>

	<body name="right_lower_arm" pos="0 -0.28 0">
	<joint name="right_elbow" type="hinge" axis="0 0 1" range="-90 50"/>
	<geom name="right_larm_geom" type="capsule" fromto="0 0 0 0 -0.22 0" size="0.04" material="body_mat"/>
	<geom name="right_hand" type="sphere" pos="0 -0.25 0" size="0.05" material="joint_mat"/>
	</body>
	</body>

	<!-- LEFT ARM -->
	<body name="left_upper_arm" pos="0 0.2 0.2">
	<joint name="left_shoulder_x" type="hinge" axis="1 0 0" range="-60 85"/>
	<joint name="left_shoulder_y" type="hinge" axis="0 1 0" range="-90 90"/>
	<geom name="left_uarm_geom" type="capsule" fromto="0 0 0 0 0.26 0" size="0.045" material="body_mat"/>

	<body name="left_lower_arm" pos="0 0.28 0">
	<joint name="left_elbow" type="hinge" axis="0 0 1" range="-50 90"/>
	<geom name="left_larm_geom" type="capsule" fromto="0 0 0 0 0.22 0" size="0.04" material="body_mat"/>
	<geom name="left_hand" type="sphere" pos="0 0.25 0" size="0.05" material="joint_mat"/>
	</body>
	</body>

	</body>
	</worldbody>

	<!-- ═════════════════════════════════════════════════════════════════════════ -->
	<!-- 21 ACTUATORS (TORQUE CONTROL) -->
	<!-- ═════════════════════════════════════════════════════════════════════════ -->
	<actuator>
	<!-- Abdomen (Core Stabilization: 160 Nm authority for 46.75 kg upper body) -->
	<motor name="act_abdomen_z" joint="abdomen_z" gear="120"/>
	<motor name="act_abdomen_y" joint="abdomen_y" gear="160"/>
	<motor name="act_abdomen_x" joint="abdomen_x" gear="160"/>

	<!-- Right Leg -->
	<motor name="act_right_hip_x" joint="right_hip_x" gear="160"/>
	<motor name="act_right_hip_z" joint="right_hip_z" gear="160"/>
	<motor name="act_right_hip_y" joint="right_hip_y" gear="260"/>
	<motor name="act_right_knee" joint="right_knee" gear="260"/>
	<motor name="act_right_ankle_y" joint="right_ankle_y" gear="100"/>
	<motor name="act_right_ankle_x" joint="right_ankle_x" gear="100"/>

	<!-- Left Leg -->
	<motor name="act_left_hip_x" joint="left_hip_x" gear="160"/>
	<motor name="act_left_hip_z" joint="left_hip_z" gear="160"/>
	<motor name="act_left_hip_y" joint="left_hip_y" gear="260"/>
	<motor name="act_left_knee" joint="left_knee" gear="260"/>
	<motor name="act_left_ankle_y" joint="left_ankle_y" gear="100"/>
	<motor name="act_left_ankle_x" joint="left_ankle_x" gear="100"/>

	<!-- Arms -->
	<motor name="act_right_shoulder_x" joint="right_shoulder_x" gear="50"/>
	<motor name="act_right_shoulder_y" joint="right_shoulder_y" gear="50"/>
	<motor name="act_right_elbow" joint="right_elbow" gear="50"/>

	<motor name="act_left_shoulder_x" joint="left_shoulder_x" gear="50"/>
	<motor name="act_left_shoulder_y" joint="left_shoulder_y" gear="50"/>
	<motor name="act_left_elbow" joint="left_elbow" gear="50"/>
	</actuator>

	<!-- Ground contact sensors on feet -->
	<sensor>
	<touch name="sensor_right_foot" site="right_foot_site"/>
	<touch name="sensor_left_foot" site="left_foot_site"/>
	</sensor>
	</mujoco>