<mujoco model="Micro_Cat_Rev1_14">
  <compiler angle="radian" autolimits="true" />
  <option timestep=".005" gravity="0 0 -9.81" iterations="80" />
  <default>
    <joint damping=".02" armature=".00001" frictionloss=".005" />
    <geom friction="1 .005 .0001" condim="3" />
  </default>
  <worldbody>
    <geom name="floor" type="plane" size="3 3 .01" rgba=".85 .85 .8 1" />
    <body name="trunk_base" pos="0 0 0.12">
      <freejoint name="trunk_base_freejoint" />
      <site name="imu" size=".003" pos="-0.01 0 0.135" />
      <inertial pos="-0.0369085456 0.000119839586 0.0135259886" mass="0.276706" fullinertia="0.000119106089 0.000386374899 0.000427985232 -2.09378175e-06 -1.8105e-05 -6.71666377e-07" />
      <body name="x_left_yaw2roll" pos="0.006 0.0175 -0.005">
        <joint name="left_hip_yaw" axis="0 0 -1" range="-0.52 0.52" />
        <inertial pos="-0.000624691718 -1.02192993e-10 -0.0204967444" mass="0.0350261" fullinertia="7.05288764e-06 7.97252299e-06 5.33183397e-06 -1.07837441e-14 3.03962608e-08 -1.13504319e-14" />
        <body name="x_left_hip" pos="0.0165 0 -0.0125">
          <joint name="left_hip_roll" axis="1 0 0" range="-0.4 0.35" />
          <inertial pos="-0.0030734921 0.0112856363 -0.00340854528" mass="0.00627569" fullinertia="1.19550345e-06 7.90810432e-07 1.4297503e-06 3.87355007e-07 -3.39795511e-08 1.07029347e-07" />
          <body name="x_left_upper_leg" pos="-0.0185 0.025 0">
            <joint name="left_hip_pitch" axis="0 1 0" range="-1.57 0.9" />
            <inertial pos="-0.0201941208 0.0165375735 -0.0061930661" mass="0.0590509" fullinertia="1.48405589e-05 2.99634656e-05 2.70206367e-05 -1.46684689e-06 -3.81142726e-06 -1.54732739e-07" />
            <body name="x_left_lower_leg" pos="-0.0358 -0.004 -0.022">
              <joint name="left_knee" axis="0 -1 0" range="-1.57 1.1" />
              <inertial pos="5.14393994e-10 0.00678062199 -0.0313825658" mass="0.0265539" fullinertia="6.79750128e-06 5.70405058e-06 3.64952268e-06 -5.80164718e-14 1.79678202e-14 7.21783465e-07" />
              <body name="x_left_foot" pos="0 0.026 -0.042">
                <joint name="left_ankle" axis="0 1 0" range="-0.55 0.55" />
                <inertial pos="-0.00951223575 -0.013497507 -0.0173122861" mass="0.03872" fullinertia="7.75964588e-06 2.69188027e-05 3.25926086e-05 -3.69231602e-07 -6.46719501e-07 -5.68929889e-07" />
                <geom name="left_foot_collision" type="box" pos="0.0068 -0.0145 -0.01975" size="0.029 0.023 0.00525" mass="0" rgba=".8 .3 .1 .25" group="3" />
                <site name="left_foot" pos="0.0068 -0.0145 -0.025" size=".003" />
                <geom name="left_foot_spur_collision" type="box" pos="-0.0383467018 -0.0145 -0.022" size="0.0158532982 0.017 0.002" mass="0" rgba=".8 .3 .1 .25" group="3" />
              </body>
              <geom name="left_lower_leg_collision" type="box" pos="-1.90734863e-10 0.00930000019 -0.01925" size="0.0134000006 0.0161999998 0.03225" mass="0" rgba=".8 .3 .1 .25" group="3" contype="2" conaffinity="2" />
            </body>
            <geom name="left_upper_leg_collision" type="box" pos="-0.0181000004 0.0147000008 -0.009" size="0.0311000004 0.0182000008 0.0225" mass="0" rgba=".8 .3 .1 .25" group="3" contype="2" conaffinity="2" />
          </body>
        </body>
      </body>
      <body name="x_neck" pos="0.026 0.0145 0.0324">
        <joint name="neck_pitch" axis="0 -1 0" range="-0.2 0.4" />
        <inertial pos="-5.93075275e-05 -0.0175073738 0.0247623587" mass="0.0691719" fullinertia="3.41612002e-05 3.30844896e-05 1.25123051e-05 -1.7755937e-08 1.73016289e-07 1.9889037e-07" />
        <body name="x_head_base" pos="0 0 0.05">
          <joint name="head_pitch" axis="0 1 0" range="-0.85 0.95" />
          <inertial pos="0.00140005757 -0.00860009842 0.0128856112" mass="0.00436792" fullinertia="7.05290422e-07 4.12733705e-07 6.84079058e-07 -6.18126779e-08 4.1442002e-08 1.90335743e-07" />
          <body name="x_head_yoke" pos="0 -0.0145 0.0187">
            <joint name="head_yaw" axis="0 0 1" range="-2.0 2.0" />
            <inertial pos="-0.00055570944 -0.00908009692 0.0168963677" mass="0.0334123" fullinertia="6.97583478e-06 5.34171833e-06 6.40365016e-06 1.68594981e-07 -4.44945978e-08 7.79443179e-09" />
            <body name="x_head" pos="-0.0179 0 0.0145">
              <joint name="head_roll" axis="-1 0 0" range="-0.1 0.15" />
              <inertial pos="0.00954866525 0.00433529816 0.0212697377" mass="0.150637" fullinertia="0.000179678823 0.000145486387 0.000219179084 -2.30493437e-07 2.67164376e-07 9.06248122e-06" />
              <body name="x_jaw" pos="0.0179 0.0145 0.0064">
                <joint name="jaw" axis="0 1 0" range="0.0 0.1" stiffness=".05" />
                <inertial pos="0.0256147366 -0.0113049054 -0.0134673722" mass="0.00692896" fullinertia="1.10515503e-06 1.74257314e-06 2.23250717e-06 4.33871293e-07 4.5876293e-07 -1.98326907e-07" />
              </body>
              <geom name="head_shell_collision" type="ellipsoid" pos="0.0019 0 0.0114" size=".062 .055 .033" mass="0" rgba=".8 .3 .1 .25" group="3" contype="1" conaffinity="1" />
            </body>
          </body>
        </body>
      </body>
      <body name="x_right_yaw2roll" pos="0.006 -0.0175 -0.005">
        <joint name="right_hip_yaw" axis="0 0 -1" range="-0.52 0.52" />
        <inertial pos="-0.000624691718 1.02192993e-10 -0.0204967444" mass="0.0350261" fullinertia="7.05288764e-06 7.97252299e-06 5.33183397e-06 1.07837441e-14 3.03962608e-08 1.13504314e-14" />
        <body name="x_right_hip" pos="0.0165 0 -0.0125">
          <joint name="right_hip_roll" axis="1 0 0" range="-0.35 0.4" />
          <inertial pos="-0.0030734921 -0.0112856363 -0.00340854528" mass="0.00627569" fullinertia="1.19550345e-06 7.90810432e-07 1.4297503e-06 -3.87355007e-07 -3.39795511e-08 -1.07029347e-07" />
          <body name="x_right_upper_leg" pos="-0.0185 -0.025 0">
            <joint name="right_hip_pitch" axis="0 -1 0" range="-0.9 1.57" />
            <inertial pos="-0.020194116 -0.0165375754 -0.00619307382" mass="0.0590508" fullinertia="1.48405445e-05 2.99634387e-05 2.70206092e-05 1.4668427e-06 -3.81143225e-06 1.54738641e-07" />
            <body name="x_right_lower_leg" pos="-0.0358 0.004 -0.022">
              <joint name="right_knee" axis="0 1 0" range="-1.1 1.57" />
              <inertial pos="5.14393994e-10 -0.00678062199 -0.0313825658" mass="0.0265539" fullinertia="6.79750128e-06 5.70405058e-06 3.64952268e-06 5.80164718e-14 1.79678202e-14 -7.21783465e-07" />
              <body name="x_right_foot" pos="0 -0.026 -0.042">
                <joint name="right_ankle" axis="0 -1 0" range="-0.55 0.55" />
                <inertial pos="-0.00951223575 0.013497507 -0.0173122861" mass="0.03872" fullinertia="7.75964588e-06 2.69188027e-05 3.25926086e-05 3.69231602e-07 -6.46719501e-07 5.68929889e-07" />
                <geom name="right_foot_collision" type="box" pos="0.0068 0.0145 -0.01975" size="0.029 0.023 0.00525" mass="0" rgba=".8 .3 .1 .25" group="3" />
                <site name="right_foot" pos="0.0068 0.0145 -0.025" size=".003" />
                <geom name="right_foot_spur_collision" type="box" pos="-0.0383467018 0.0145 -0.022" size="0.0158532982 0.017 0.002" mass="0" rgba=".8 .3 .1 .25" group="3" />
              </body>
              <geom name="right_lower_leg_collision" type="box" pos="-1.90734863e-10 -0.00930000019 -0.01925" size="0.0134000006 0.0161999998 0.03225" mass="0" rgba=".8 .3 .1 .25" group="3" contype="2" conaffinity="2" />
            </body>
            <geom name="right_upper_leg_collision" type="box" pos="-0.0181000004 -0.0147000008 -0.009" size="0.0311000004 0.0182000008 0.0225" mass="0" rgba=".8 .3 .1 .25" group="3" contype="2" conaffinity="2" />
          </body>
        </body>
      </body>
      <geom name="trunk_shell_collision" type="ellipsoid" pos="-0.006 0 0.022" size=".044 .0376 .024" mass="0" rgba=".8 .3 .1 .25" group="3" contype="1" conaffinity="1" />
    </body>
  </worldbody>
  <contact>
    <exclude body1="trunk_base" body2="x_head" />
    <exclude body1="x_left_upper_leg" body2="x_right_upper_leg" />
    <exclude body1="x_left_lower_leg" body2="x_right_lower_leg" />
  </contact>
  <actuator>
    <position name="left_hip_yaw" joint="left_hip_yaw" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="left_hip_roll" joint="left_hip_roll" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="left_hip_pitch" joint="left_hip_pitch" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="left_knee" joint="left_knee" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="left_ankle" joint="left_ankle" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="neck_pitch" joint="neck_pitch" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="head_pitch" joint="head_pitch" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="head_yaw" joint="head_yaw" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="head_roll" joint="head_roll" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="right_hip_yaw" joint="right_hip_yaw" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="right_hip_roll" joint="right_hip_roll" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="right_hip_pitch" joint="right_hip_pitch" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="right_knee" joint="right_knee" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
    <position name="right_ankle" joint="right_ankle" kp="5" ctrlrange="-2.4 2.4" forcerange="-.5 .5" />
  </actuator>
  <sensor>
    <gyro name="imu_ang_vel" site="imu" />
    <accelerometer name="imu_accel" site="imu" />
    <subtreeangmom name="root_angmom" body="trunk_base" />
  </sensor>
</mujoco>