<?xml version='1.0' encoding='utf-8'?>
<mujoco model="asmr2026_humanoid">
  <!-- Copyright (c) 2026 Seunghoon Kang, Soft Robotics and Bionics Laboratory (SRBL), Department of Mechanical Engineering, Seoul National University. All rights reserved. -->
  <compiler angle="radian" meshdir="../meshes" autolimits="true" />
  <default>
    <default class="asmr2026_humanoid">
      <joint frictionloss="0.1" armature="0.005" />
      <position kp="50" dampratio="1" />
      <default class="visual">
        <geom type="mesh" contype="0" conaffinity="0" group="2" />
      </default>
      <default class="collision">
        <geom group="3" contype="0" conaffinity="1" condim="3" priority="1" friction="0.6 0.005 0.0001" />
      </default>
    </default>
  </default>
  <worldbody>
    <body name="base" pos="0 0 0" quat="1 0 0 0" childclass="asmr2026_humanoid">
      <freejoint name="base_freejoint" />
      <inertial pos="-0.00352083 -0.00175681 0.66599" mass="5.56725" fullinertia="0.0670575 0.0494878 0.0318557 0.0001353 0.00148856 0.000419932" />
      <geom type="mesh" class="visual" pos="-0.00352083 -0.00175681 0.66599" quat="0.7071067812 0 0 0.7071067812" mesh="base_visual" material="base_visual_material" />
      <geom class="collision" name="base_collision" type="box" pos="-0.00106123 -0.00754197 0.668952" quat="-0.04201699204 0.7016168041 -0.03939291878 0.7102230008" size="0.178051 0.150903 0.0734733" />
      <body name="imu_2" pos="0.0191473 0.00075234 0.6168" quat="0 -0.7071067812 -0.7071067812 0">
        <inertial pos="-0 -0 -0.0054068" mass="0.046" fullinertia="9.00897e-06 1.05324e-05 1.84346e-05 0 -0 0" />
        <geom type="mesh" class="visual" pos="-0 0 -0.0054068" quat="0 1 -0 -0" mesh="imu_2_visual" material="imu_2_visual_material" />
        <geom class="collision" name="imu_2_collision" type="box" pos="1.47744e-06 5.13569e-07 -0.00599793" quat="0.000196615 0.00702364 0.999975 6.98964e-05" size="0.030321 0.0239124 0.00601291" />
        <site group="3" name="imu" pos="-0 0 -0.012" quat="0 1 0 0" />
      </body>
      <body name="leg_left_hip_roll" pos="-0.0234602 0.1 0.531785" quat="0.9238788502 0 0.3826833616 0">
        <joint axis="0 0 1" name="leg_left_hip_roll_joint" type="hinge" range="-0.17453292519987526 1.5707963267944542" frictionloss="0.377" armature="0.0228" damping="0.09" />
        <inertial pos="-0.00722021 -0.000256929 -0.0500812" mass="0.610295" fullinertia="0.00055326 0.000604619 0.000546565 3.53433e-06 -5.44196e-06 -2.94674e-06" />
        <geom type="mesh" class="visual" pos="-0.00722021 -0.000256929 -0.0500812" quat="0.653281 -0.270598 -0.270598 0.653281" mesh="leg_left_hip_roll_visual" material="leg_left_hip_roll_visual_material" />
        <geom class="collision" name="leg_left_hip_roll_collision" type="box" pos="-0.0160418 0.00196308 -0.0475174" quat="-0.391526 -0.450574 -0.502947 0.625087" size="0.0575735 0.054632 0.0486086" />
        <body name="leg_left_hip_yaw" pos="0.027 0 -0.052" quat="0.5 -0.5 -0.5 0.5">
          <joint axis="0 0 1" name="leg_left_hip_yaw_joint" type="hinge" range="-0.5890486225480853 0.9817477042468112" frictionloss="0.377" armature="0.0228" damping="0.09" />
          <inertial pos="-0.00722046 -0.000122518 -0.0499338" mass="0.610295" fullinertia="0.00055344 0.000606803 0.00054454 -1.38532e-06 -9.78123e-06 6.18155e-06" />
          <geom type="mesh" class="visual" pos="-0.00722046 -0.000122518 -0.0499338" quat="0.92388 0.382683 0 0" mesh="leg_left_hip_yaw_visual" material="leg_left_hip_yaw_visual_material" />
          <geom class="collision" name="leg_left_hip_yaw_collision" type="box" pos="-0.0161405 -0.000935632 -0.0473143" quat="0.404662 0.420251 0.612893 -0.532916" size="0.0585738 0.0543521 0.0454401" />
          <body name="leg_left_hip_pitch" pos="0.027 0 -0.052" quat="0.270598 0.653281 -0.270598 -0.653281">
            <joint axis="0 0 1" name="leg_left_hip_pitch_joint" type="hinge" range="-0.9817477042463396 1.8980455615443041" frictionloss="0.377" armature="0.0228" damping="0.09" />
            <inertial pos="0.00252783 -0.12575 0.0207946" mass="0.807295" fullinertia="0.00224206 0.000866208 0.00199188 -9.98392e-05 -1.77873e-05 -0.000217269" />
            <geom type="mesh" class="visual" pos="0.00252783 -0.12575 0.0207946" quat="0.5 -0.5 0.5 0.5" mesh="leg_left_hip_pitch_visual" material="leg_left_hip_pitch_visual_material" />
            <geom class="collision" name="leg_left_hip_pitch_collision" type="capsule" fromto="0.000347215 -0.141052 0.036753 0.00452729 -0.0320122 0.0429217" size="0.0557908" />
            <body name="leg_left_knee_pitch" pos="-0 -0.15 -0.018" quat="1 -0 0 -0">
              <joint axis="0 0 1" name="leg_left_knee_pitch_joint" type="hinge" range="-2.443460952792061 0.0" frictionloss="0.377" armature="0.0228" damping="0.09" />
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              <geom type="mesh" class="visual" pos="6.22457e-05 -0.124552 0.0278013" quat="0.5 -0.5 0.5 0.5" mesh="leg_left_knee_pitch_visual" material="leg_left_knee_pitch_visual_material" />
              <geom class="collision" name="leg_left_knee_pitch_collision" type="capsule" fromto="0.000336196 -0.130217 0.0264373 0.000490774 -0.0461206 0.0455306" size="0.0690285" />
              <body name="leg_left_ankle_pitch" pos="-0 -0.16 -0.003" quat="0 -0 -0 1">
                <joint axis="0 0 1" name="leg_left_ankle_pitch_joint" type="hinge" range="-1.0471975511963374 0.523598775598559" frictionloss="0.317" armature="0.00556" damping="0.03" />
                <inertial pos="0.0141965 0.0452964 0.0278678" mass="0.087" fullinertia="0.000198924 0.000125207 9.87061e-05 -2.42192e-05 -1.00666e-05 -2.69091e-05" />
                <geom type="mesh" class="visual" pos="0.0141965 0.0452964 0.0278678" quat="0.5 0.5 0.5 -0.5" mesh="leg_left_ankle_pitch_visual" material="leg_left_ankle_pitch_visual_material" />
                <geom class="collision" name="leg_left_ankle_pitch_collision" type="box" pos="0.00979863 0.0278458 0.0328534" quat="0.61074 0.140096 -0.691414 -0.359606" size="0.0694404 0.0743712 0.0215177" contype="0" conaffinity="0" />
                <body name="leg_left_ankle_roll" pos="0.016 0.075 0.0355" quat="0 -0.707107 0 -0.707107">
                  <joint axis="0 0 1" name="leg_left_ankle_roll_joint" type="hinge" range="-0.2617993877980818 0.261799387800217" frictionloss="0.317" armature="0.00556" damping="0.03" />
                  <inertial pos="0.000136733 -0.0183044 -0.0345478" mass="0.60417" fullinertia="0.00162401 0.00151979 0.000543053 -2.7862e-06 2.97019e-06 -3.38617e-05" />
                  <geom type="mesh" class="visual" pos="0.000136733 -0.0183044 -0.0345478" quat="0 0 0.707107 0.707107" mesh="leg_left_ankle_roll_visual" material="leg_left_ankle_roll_visual_material" />
                  <geom class="collision" name="leg_left_ankle_roll_guard" type="capsule" fromto="-0.00297103 -0.00254452 0.0284207 0.00110117 -0.0101295 -0.105991" size="0.0512849" contype="0" conaffinity="0" />
                  <geom class="collision" name="left_foot_collision" type="box" pos="0 -0.042004 -0.03675" quat="0.5 -0.5 0.5 0.5" size="0.110 0.040 0.008" />
                  <site name="left_foot" pos="0 -0.047454 -0.03675" quat="0.5 -0.5 0.5 0.5" size="0.006" rgba="0.1 0.8 0.2 0.8" />
                  <site name="left_heel" pos="0 -0.047454 0.069632" quat="0.5 -0.5 0.5 0.5" size="0.006" rgba="0.1 0.8 0.2 0.8" />
                  <site name="left_toe" pos="0 -0.047454 -0.140368" quat="0.5 -0.5 0.5 0.5" size="0.006" rgba="0.1 0.8 0.2 0.8" />
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="leg_right_hip_roll" pos="-0.0234602 -0.1 0.531785" quat="0 0.3826833616 0 0.9238788502">
        <joint axis="0 0 1" name="leg_right_hip_roll_joint" type="hinge" range="-1.570796326794829 0.17453292519950045" frictionloss="0.377" armature="0.0228" damping="0.09" />
        <inertial pos="0.00722021 -0.000300588 -0.0503005" mass="0.610295" fullinertia="0.00055373 0.000604124 0.000547529 -2.42761e-06 1.10065e-05 -5.3207e-06" />
        <geom type="mesh" class="visual" pos="0.00722021 -0.000300588 -0.0503005" quat="0.653281 -0.270598 0.270598 -0.653281" mesh="leg_right_hip_roll_visual" material="leg_right_hip_roll_visual_material" />
        <geom class="collision" name="leg_right_hip_roll_collision" type="box" pos="0.0150512 0.00205559 -0.0479875" quat="0.354216 0.399672 -0.513913 0.671332" size="0.0609553 0.0574788 0.0486526" />
        <body name="leg_right_hip_yaw" pos="-0.027 0 -0.052" quat="0.5 -0.5 0.5 -0.5">
          <joint axis="0 0 1" name="leg_right_hip_yaw_joint" type="hinge" range="-0.9817477042468059 0.5890486225480907" frictionloss="0.377" armature="0.0228" damping="0.09" />
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          <geom type="mesh" class="visual" pos="0.00722046 -7.89313e-05 -0.0501531" quat="0.92388 0.382683 -0 -0" mesh="leg_right_hip_yaw_visual" material="leg_right_hip_yaw_visual_material" />
          <geom class="collision" name="leg_right_hip_yaw_collision" type="box" pos="0.0153311 0.000405498 -0.0477029" quat="0.347589 0.400649 -0.597463 0.601415" size="0.0610826 0.0570895 0.0459622" />
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            <joint axis="0 0 1" name="leg_right_hip_pitch_joint" type="hinge" range="-1.8980455615440874 0.9817477042465563" frictionloss="0.377" armature="0.0228" damping="0.09" />
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            <body name="leg_right_knee_pitch" pos="-0 0.15 -0.018" quat="0 0 -0 -1">
              <joint axis="0 0 1" name="leg_right_knee_pitch_joint" type="hinge" range="0.0 2.443460952792061" frictionloss="0.377" armature="0.0228" damping="0.09" />
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              <geom type="mesh" class="visual" pos="-6.22888e-05 -0.124369 0.0278013" quat="0.5 -0.5 -0.5 -0.5" mesh="leg_right_knee_pitch_visual" material="leg_right_knee_pitch_visual_material" />
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                <body name="leg_right_ankle_roll" pos="0.016 -0.075 0.0355" quat="0.707107 -0 0.707107 -0">
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            </body>
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        </body>
      </body>
    </body>
  </worldbody>
  <asset>
    <mesh file="leg_left_ankle_roll_visual.stl" />
    <mesh file="leg_left_ankle_pitch_visual.stl" />
    <mesh file="leg_right_ankle_roll_visual.stl" />
    <mesh file="leg_left_knee_pitch_visual.stl" />
    <mesh file="leg_left_hip_yaw_visual.stl" />
    <mesh file="leg_right_ankle_pitch_visual.stl" />
    <mesh file="leg_right_hip_pitch_visual.stl" />
    <mesh file="base_visual.stl" />
    <mesh file="leg_left_hip_roll_visual.stl" />
    <mesh file="leg_right_knee_pitch_visual.stl" />
    <mesh file="imu_2_visual.stl" />
    <mesh file="leg_left_hip_pitch_visual.stl" />
    <mesh file="leg_right_hip_yaw_visual.stl" />
    <mesh file="leg_right_hip_roll_visual.stl" />
    <material name="base_visual_material" rgba="0.63235 0.63235 0.63235 0.790438" />
    <material name="base_collision_material" rgba="0.63235 0.63235 0.63235 0.790438" />
    <material name="imu_2_visual_material" rgba="0.8 0.8 0.8 1" />
    <material name="imu_2_collision_material" rgba="0.8 0.8 0.8 1" />
    <material name="leg_left_hip_roll_visual_material" rgba="0.157238 0.157238 0.157238 0.196548" />
    <material name="leg_left_hip_roll_collision_material" rgba="0.157238 0.157238 0.157238 0.196548" />
    <material name="leg_left_hip_yaw_visual_material" rgba="0.157238 0.157238 0.157238 0.196548" />
    <material name="leg_left_hip_yaw_collision_material" rgba="0.157238 0.157238 0.157238 0.196548" />
    <material name="leg_left_hip_pitch_visual_material" rgba="0.318052 0.318052 0.318052 0.397565" />
    <material name="leg_left_hip_pitch_collision_material" rgba="0.318052 0.318052 0.318052 0.397565" />
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    <material name="leg_left_knee_pitch_collision_material" rgba="0.444297 0.444297 0.444297 0.555371" />
    <material name="leg_left_ankle_pitch_visual_material" rgba="0.8 0.8 0.8 1" />
    <material name="leg_left_ankle_pitch_collision_material" rgba="0.8 0.8 0.8 1" />
    <material name="leg_left_ankle_roll_visual_material" rgba="0.459604 0.459604 0.459604 0.574505" />
    <material name="leg_left_ankle_roll_collision_material" rgba="0.459604 0.459604 0.459604 0.574505" />
    <material name="leg_right_hip_roll_visual_material" rgba="0.157238 0.157238 0.157238 0.196548" />
    <material name="leg_right_hip_roll_collision_material" rgba="0.157238 0.157238 0.157238 0.196548" />
    <material name="leg_right_hip_yaw_visual_material" rgba="0.157238 0.157238 0.157238 0.196548" />
    <material name="leg_right_hip_yaw_collision_material" rgba="0.157238 0.157238 0.157238 0.196548" />
    <material name="leg_right_hip_pitch_visual_material" rgba="0.318052 0.318052 0.318052 0.397565" />
    <material name="leg_right_hip_pitch_collision_material" rgba="0.318052 0.318052 0.318052 0.397565" />
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    <material name="leg_right_knee_pitch_collision_material" rgba="0.444297 0.444297 0.444297 0.555371" />
    <material name="leg_right_ankle_pitch_visual_material" rgba="0.8 0.8 0.8 1" />
    <material name="leg_right_ankle_pitch_collision_material" rgba="0.8 0.8 0.8 1" />
    <material name="leg_right_ankle_roll_visual_material" rgba="0.459604 0.459604 0.459604 0.574505" />
    <material name="leg_right_ankle_roll_collision_material" rgba="0.459604 0.459604 0.459604 0.574505" />
  </asset>
  <sensor>
    <framequat name="imu_quat" objtype="site" objname="imu" />
    <gyro name="imu_gyro" site="imu" />
    <accelerometer name="imu_acc" site="imu" />
    <framepos name="frame_pos" objtype="site" objname="imu" />
    <framelinvel name="frame_vel" objtype="site" objname="imu" />
    <gyro name="imu_ang_vel" site="imu" />
    <framelinvel name="imu_lin_vel" objtype="site" objname="imu" />
  </sensor>
</mujoco>
