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test.xml
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test.xml
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<mujoco model="humanoid">
<compiler coordinate="local"/>
<default>
<joint damping="0.0" armature="0.01" stiffness="0.0" limited="true"/>
<geom conaffinity="1" condim="3" contype="7" margin="0.001" rgba="0.8 0.6 .4 1"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" width="100" height="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="100 100 .2" type="plane" material="MatPlane"/>
<body name="Pelvis" pos="-0.0018 -0.2233 0.0282">
<freejoint name="Pelvis"/>
<geom type="box" density="3165.830095" pos="-0.0000 -0.0121 -0.0055" size="0.1069 0.0722 0.083" quat="1.0000 0.0000 0.0000 0.0000" name="Pelvis"/>
<body name="L_Hip" pos="0.0695 -0.0914 -0.0068">
<joint name="L_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0069 -0.0750 -0.0009 0.0274 -0.3002 -0.0036" size="0.0615" name="L_Hip"/>
<body name="L_Knee" pos="0.0343 -0.3752 -0.0045">
<joint name="L_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Knee_z" type="hinge" pos="0 0 0" axis="0 0 1" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1234.567901" fromto="-0.0027 -0.0796 -0.0087 -0.0109 -0.3184 -0.0350" size="0.0541" name="L_Knee"/>
<body name="L_Ankle" pos="-0.0136 -0.398 -0.0437">
<joint name="L_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" user="150 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" user="150 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" user="150 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="box" density="449.071569" pos="0.0233 -0.0239 0.0242" size="0.0483 0.0464 0.085" quat="1.0000 0.0000 0.0000 0.0000" name="L_Ankle"/>
<body name="L_Toe" pos="0.0264 -0.0558 0.1193">
<joint name="L_Toe_x" type="hinge" pos="0 0 0" axis="1 0 0" user="150 1 1 500 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Toe_y" type="hinge" pos="0 0 0" axis="0 1 0" user="150 1 1 500 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Toe_z" type="hinge" pos="0 0 0" axis="0 0 1" user="150 1 1 500 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="box" density="423.206892" pos="-0.0030 0.0055 0.0248" size="0.0478 0.02 0.0496" quat="1.0000 0.0000 0.0000 0.0000" name="L_Toe"/>
</body>
</body>
</body>
</body>
<body name="R_Hip" pos="-0.0677 -0.0905 -0.0043">
<joint name="R_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0077 -0.0765 -0.0018 -0.0306 -0.3061 -0.0071" size="0.0606" name="R_Hip"/>
<body name="R_Knee" pos="-0.0383 -0.3826 -0.0089">
<joint name="R_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Knee_z" type="hinge" pos="0 0 0" axis="0 0 1" user="250 2.5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1234.567901" fromto="0.0032 -0.0797 -0.0085 0.0126 -0.3187 -0.0338" size="0.0541" name="R_Knee"/>
<body name="R_Ankle" pos="0.0158 -0.3984 -0.0423">
<joint name="R_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" user="150 1 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" user="150 1 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" user="150 1 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="box" density="434.700981" pos="-0.0212 -0.0174 0.0256" size="0.0483 0.0478 0.0865" quat="1.0000 0.0000 0.0000 0.0000" name="R_Ankle"/>
<body name="R_Toe" pos="-0.0254 -0.0481 0.1233">
<joint name="R_Toe_x" type="hinge" pos="0 0 0" axis="1 0 0" user="150 1 1 500 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Toe_y" type="hinge" pos="0 0 0" axis="0 1 0" user="150 1 1 500 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Toe_z" type="hinge" pos="0 0 0" axis="0 0 1" user="150 1 1 500 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="box" density="407.384095" pos="0.0042 0.0045 0.0227" size="0.0479 0.0216 0.0493" quat="1.0000 0.0000 0.0000 0.0000" name="R_Toe"/>
</body>
</body>
</body>
</body>
<body name="Torso" pos="-0.0025 0.109 -0.0267">
<joint name="Torso_x" type="hinge" pos="0 0 0" axis="1 0 0" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Torso_y" type="hinge" pos="0 0 0" axis="0 1 0" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Torso_z" type="hinge" pos="0 0 0" axis="0 0 1" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0025 0.0608 0.0005 0.0030 0.0743 0.0006" size="0.0769" name="Torso"/>
<body name="Spine" pos="0.0055 0.1352 0.0011">
<joint name="Spine_x" type="hinge" pos="0 0 0" axis="1 0 0" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Spine_y" type="hinge" pos="0 0 0" axis="0 1 0" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Spine_z" type="hinge" pos="0 0 0" axis="0 0 1" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0007 0.0238 0.0114 0.0008 0.0291 0.0140" size="0.0755" name="Spine"/>
<body name="Chest" pos="0.0015 0.0529 0.0254">
<joint name="Chest_x" type="hinge" pos="0 0 0" axis="1 0 0" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Chest_y" type="hinge" pos="0 0 0" axis="0 1 0" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Chest_z" type="hinge" pos="0 0 0" axis="0 0 1" user="500 5 1 500 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0009 0.0682 -0.0173 -0.0010 0.0833 -0.0212" size="0.1002" name="Chest"/>
<body name="Neck" pos="-0.0028 0.2139 -0.0429">
<joint name="Neck_x" type="hinge" pos="0 0 0" axis="1 0 0" user="150 1 1 250 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Neck_y" type="hinge" pos="0 0 0" axis="0 1 0" user="150 1 1 250 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Neck_z" type="hinge" pos="0 0 0" axis="0 0 1" user="150 1 1 250 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0010 0.0130 0.0103 0.0041 0.0520 0.0411" size="0.0436" name="Neck"/>
<body name="Head" pos="0.0052 0.065 0.0513">
<joint name="Head_x" type="hinge" pos="0 0 0" axis="1 0 0" user="150 1 1 250 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Head_y" type="hinge" pos="0 0 0" axis="0 1 0" user="150 1 1 250 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="Head_z" type="hinge" pos="0 0 0" axis="0 0 1" user="150 1 1 250 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="box" density="1018.069894" pos="-0.0042 0.0876 -0.0116" size="0.0606 0.1154 0.076" quat="1.0000 0.0000 0.0000 0.0000" name="Head"/>
</body>
</body>
<body name="L_Thorax" pos="0.0788 0.1217 -0.0341">
<joint name="L_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" user="200 2 1 500 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Thorax_y" type="hinge" pos="0 0 0" axis="0 1 0" user="200 2 1 500 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" user="200 2 1 500 50 4" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0182 0.0061 -0.0018 0.0728 0.0244 -0.0071" size="0.0521" name="L_Thorax"/>
<body name="L_Shoulder" pos="0.091 0.0305 -0.0089">
<joint name="L_Shoulder_x" type="hinge" pos="0 0 0" axis="1 0 0" user="200 2 1 500 50 4" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<joint name="L_Shoulder_y" type="hinge" pos="0 0 0" axis="0 1 0" user="200 2 1 500 50 4" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<joint name="L_Shoulder_z" type="hinge" pos="0 0 0" axis="0 0 1" user="200 2 1 500 50 4" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0519 -0.0026 -0.0055 0.2077 -0.0102 -0.0220" size="0.0517" name="L_Shoulder"/>
<body name="L_Elbow" pos="0.2596 -0.0128 -0.0275">
<joint name="L_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" user="150 1 1 150 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<joint name="L_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" user="150 1 1 150 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<joint name="L_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" user="150 1 1 150 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0498 0.0018 -0.0002 0.1994 0.0072 -0.0009" size="0.0405" name="L_Elbow"/>
<body name="L_Wrist" pos="0.2492 0.009 -0.0012">
<joint name="L_Wrist_x" type="hinge" pos="0 0 0" axis="1 0 0" user="100 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Wrist_y" type="hinge" pos="0 0 0" axis="0 1 0" user="100 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Wrist_z" type="hinge" pos="0 0 0" axis="0 0 1" user="100 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0168 -0.0016 -0.0030 0.0672 -0.0065 -0.0120" size="0.0318" name="L_Wrist"/>
<body name="L_Hand" pos="0.084 -0.0082 -0.0149">
<joint name="L_Hand_x" type="hinge" pos="0 0 0" axis="1 0 0" user="50 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Hand_y" type="hinge" pos="0 0 0" axis="0 1 0" user="50 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="L_Hand_z" type="hinge" pos="0 0 0" axis="0 0 1" user="50 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="box" density="400.552564" pos="0.0493 0.0010 -0.0058" size="0.0585 0.0158 0.0538" quat="1.0000 0.0000 0.0000 0.0000" name="L_Hand"/>
</body>
</body>
</body>
</body>
</body>
<body name="R_Thorax" pos="-0.0818 0.1188 -0.0386">
<joint name="R_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" user="200 2 1 150 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Thorax_y" type="hinge" pos="0 0 0" axis="0 1 0" user="200 2 1 150 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" user="200 2 1 150 10 2" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0192 0.0065 -0.0018 -0.0768 0.0260 -0.0073" size="0.0511" name="R_Thorax"/>
<body name="R_Shoulder" pos="-0.096 0.0326 -0.0091">
<joint name="R_Shoulder_x" type="hinge" pos="0 0 0" axis="1 0 0" user="200 2 1 250 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<joint name="R_Shoulder_y" type="hinge" pos="0 0 0" axis="0 1 0" user="200 2 1 250 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<joint name="R_Shoulder_z" type="hinge" pos="0 0 0" axis="0 0 1" user="200 2 1 250 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0507 -0.0027 -0.0043 -0.2030 -0.0107 -0.0171" size="0.0531" name="R_Shoulder"/>
<body name="R_Elbow" pos="-0.2537 -0.0133 -0.0214">
<joint name="R_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" user="150 1 1 150 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<joint name="R_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" user="150 1 1 150 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<joint name="R_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" user="150 1 1 150 10 2" armature="0.01" range="-720.0000 720.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0511 0.0016 -0.0011 -0.2042 0.0062 -0.0044" size="0.0408" name="R_Elbow"/>
<body name="R_Wrist" pos="-0.2553 0.0078 -0.0056">
<joint name="R_Wrist_x" type="hinge" pos="0 0 0" axis="1 0 0" user="100 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Wrist_y" type="hinge" pos="0 0 0" axis="0 1 0" user="100 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Wrist_z" type="hinge" pos="0 0 0" axis="0 0 1" user="100 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0169 -0.0012 -0.0021 -0.0677 -0.0049 -0.0083" size="0.0326" name="R_Wrist"/>
<body name="R_Hand" pos="-0.0846 -0.0061 -0.0103">
<joint name="R_Hand_x" type="hinge" pos="0 0 0" axis="1 0 0" user="50 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Hand_y" type="hinge" pos="0 0 0" axis="0 1 0" user="50 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<joint name="R_Hand_z" type="hinge" pos="0 0 0" axis="0 0 1" user="50 1 1 150 1 1" armature="0.01" range="-180.0000 180.0000" damping="0" stiffness="0"/>
<geom type="box" density="403.679611" pos="-0.0462 -0.0009 -0.0079" size="0.0569 0.0164 0.0546" quat="1.0000 0.0000 0.0000 0.0000" name="R_Hand"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="L_Hip_x" joint="L_Hip_x" gear="1"/>
<motor name="L_Hip_y" joint="L_Hip_y" gear="1"/>
<motor name="L_Hip_z" joint="L_Hip_z" gear="1"/>
<motor name="L_Knee_x" joint="L_Knee_x" gear="1"/>
<motor name="L_Knee_y" joint="L_Knee_y" gear="1"/>
<motor name="L_Knee_z" joint="L_Knee_z" gear="1"/>
<motor name="L_Ankle_x" joint="L_Ankle_x" gear="1"/>
<motor name="L_Ankle_y" joint="L_Ankle_y" gear="1"/>
<motor name="L_Ankle_z" joint="L_Ankle_z" gear="1"/>
<motor name="L_Toe_x" joint="L_Toe_x" gear="1"/>
<motor name="L_Toe_y" joint="L_Toe_y" gear="1"/>
<motor name="L_Toe_z" joint="L_Toe_z" gear="1"/>
<motor name="R_Hip_x" joint="R_Hip_x" gear="1"/>
<motor name="R_Hip_y" joint="R_Hip_y" gear="1"/>
<motor name="R_Hip_z" joint="R_Hip_z" gear="1"/>
<motor name="R_Knee_x" joint="R_Knee_x" gear="1"/>
<motor name="R_Knee_y" joint="R_Knee_y" gear="1"/>
<motor name="R_Knee_z" joint="R_Knee_z" gear="1"/>
<motor name="R_Ankle_x" joint="R_Ankle_x" gear="1"/>
<motor name="R_Ankle_y" joint="R_Ankle_y" gear="1"/>
<motor name="R_Ankle_z" joint="R_Ankle_z" gear="1"/>
<motor name="R_Toe_x" joint="R_Toe_x" gear="1"/>
<motor name="R_Toe_y" joint="R_Toe_y" gear="1"/>
<motor name="R_Toe_z" joint="R_Toe_z" gear="1"/>
<motor name="Torso_x" joint="Torso_x" gear="1"/>
<motor name="Torso_y" joint="Torso_y" gear="1"/>
<motor name="Torso_z" joint="Torso_z" gear="1"/>
<motor name="Spine_x" joint="Spine_x" gear="1"/>
<motor name="Spine_y" joint="Spine_y" gear="1"/>
<motor name="Spine_z" joint="Spine_z" gear="1"/>
<motor name="Chest_x" joint="Chest_x" gear="1"/>
<motor name="Chest_y" joint="Chest_y" gear="1"/>
<motor name="Chest_z" joint="Chest_z" gear="1"/>
<motor name="Neck_x" joint="Neck_x" gear="1"/>
<motor name="Neck_y" joint="Neck_y" gear="1"/>
<motor name="Neck_z" joint="Neck_z" gear="1"/>
<motor name="Head_x" joint="Head_x" gear="1"/>
<motor name="Head_y" joint="Head_y" gear="1"/>
<motor name="Head_z" joint="Head_z" gear="1"/>
<motor name="L_Thorax_x" joint="L_Thorax_x" gear="1"/>
<motor name="L_Thorax_y" joint="L_Thorax_y" gear="1"/>
<motor name="L_Thorax_z" joint="L_Thorax_z" gear="1"/>
<motor name="L_Shoulder_x" joint="L_Shoulder_x" gear="1"/>
<motor name="L_Shoulder_y" joint="L_Shoulder_y" gear="1"/>
<motor name="L_Shoulder_z" joint="L_Shoulder_z" gear="1"/>
<motor name="L_Elbow_x" joint="L_Elbow_x" gear="1"/>
<motor name="L_Elbow_y" joint="L_Elbow_y" gear="1"/>
<motor name="L_Elbow_z" joint="L_Elbow_z" gear="1"/>
<motor name="L_Wrist_x" joint="L_Wrist_x" gear="1"/>
<motor name="L_Wrist_y" joint="L_Wrist_y" gear="1"/>
<motor name="L_Wrist_z" joint="L_Wrist_z" gear="1"/>
<motor name="L_Hand_x" joint="L_Hand_x" gear="1"/>
<motor name="L_Hand_y" joint="L_Hand_y" gear="1"/>
<motor name="L_Hand_z" joint="L_Hand_z" gear="1"/>
<motor name="R_Thorax_x" joint="R_Thorax_x" gear="1"/>
<motor name="R_Thorax_y" joint="R_Thorax_y" gear="1"/>
<motor name="R_Thorax_z" joint="R_Thorax_z" gear="1"/>
<motor name="R_Shoulder_x" joint="R_Shoulder_x" gear="1"/>
<motor name="R_Shoulder_y" joint="R_Shoulder_y" gear="1"/>
<motor name="R_Shoulder_z" joint="R_Shoulder_z" gear="1"/>
<motor name="R_Elbow_x" joint="R_Elbow_x" gear="1"/>
<motor name="R_Elbow_y" joint="R_Elbow_y" gear="1"/>
<motor name="R_Elbow_z" joint="R_Elbow_z" gear="1"/>
<motor name="R_Wrist_x" joint="R_Wrist_x" gear="1"/>
<motor name="R_Wrist_y" joint="R_Wrist_y" gear="1"/>
<motor name="R_Wrist_z" joint="R_Wrist_z" gear="1"/>
<motor name="R_Hand_x" joint="R_Hand_x" gear="1"/>
<motor name="R_Hand_y" joint="R_Hand_y" gear="1"/>
<motor name="R_Hand_z" joint="R_Hand_z" gear="1"/>
</actuator>
<contact>
<exclude body1="Torso" body2="Chest"/>
<exclude body1="Head" body2="Chest"/>
<exclude body1="R_Knee" body2="R_Toe"/>
<exclude body1="R_Knee" body2="L_Ankle"/>
<exclude body1="R_Knee" body2="L_Toe"/>
<exclude body1="L_Knee" body2="L_Toe"/>
<exclude body1="L_Knee" body2="R_Ankle"/>
<exclude body1="L_Knee" body2="R_Toe"/>
<exclude body1="L_Shoulder" body2="Chest"/>
<exclude body1="R_Shoulder" body2="Chest"/>
</contact>
<sensor>
<framelinvel name="sensor_Pelvis_framelinvel" objtype="xbody" objname="Pelvis"/>
<framelinvel name="sensor_L_Hip_framelinvel" objtype="xbody" objname="L_Hip"/>
<framelinvel name="sensor_L_Knee_framelinvel" objtype="xbody" objname="L_Knee"/>
<framelinvel name="sensor_L_Ankle_framelinvel" objtype="xbody" objname="L_Ankle"/>
<framelinvel name="sensor_L_Toe_framelinvel" objtype="xbody" objname="L_Toe"/>
<framelinvel name="sensor_R_Hip_framelinvel" objtype="xbody" objname="R_Hip"/>
<framelinvel name="sensor_R_Knee_framelinvel" objtype="xbody" objname="R_Knee"/>
<framelinvel name="sensor_R_Ankle_framelinvel" objtype="xbody" objname="R_Ankle"/>
<framelinvel name="sensor_R_Toe_framelinvel" objtype="xbody" objname="R_Toe"/>
<framelinvel name="sensor_Torso_framelinvel" objtype="xbody" objname="Torso"/>
<framelinvel name="sensor_Spine_framelinvel" objtype="xbody" objname="Spine"/>
<framelinvel name="sensor_Chest_framelinvel" objtype="xbody" objname="Chest"/>
<framelinvel name="sensor_Neck_framelinvel" objtype="xbody" objname="Neck"/>
<framelinvel name="sensor_Head_framelinvel" objtype="xbody" objname="Head"/>
<framelinvel name="sensor_L_Thorax_framelinvel" objtype="xbody" objname="L_Thorax"/>
<framelinvel name="sensor_L_Shoulder_framelinvel" objtype="xbody" objname="L_Shoulder"/>
<framelinvel name="sensor_L_Elbow_framelinvel" objtype="xbody" objname="L_Elbow"/>
<framelinvel name="sensor_L_Wrist_framelinvel" objtype="xbody" objname="L_Wrist"/>
<framelinvel name="sensor_L_Hand_framelinvel" objtype="xbody" objname="L_Hand"/>
<framelinvel name="sensor_R_Thorax_framelinvel" objtype="xbody" objname="R_Thorax"/>
<framelinvel name="sensor_R_Shoulder_framelinvel" objtype="xbody" objname="R_Shoulder"/>
<framelinvel name="sensor_R_Elbow_framelinvel" objtype="xbody" objname="R_Elbow"/>
<framelinvel name="sensor_R_Wrist_framelinvel" objtype="xbody" objname="R_Wrist"/>
<framelinvel name="sensor_R_Hand_framelinvel" objtype="xbody" objname="R_Hand"/>
<frameangvel name="sensor_Pelvis_frameangvel" objtype="xbody" objname="Pelvis"/>
<frameangvel name="sensor_L_Hip_frameangvel" objtype="xbody" objname="L_Hip"/>
<frameangvel name="sensor_L_Knee_frameangvel" objtype="xbody" objname="L_Knee"/>
<frameangvel name="sensor_L_Ankle_frameangvel" objtype="xbody" objname="L_Ankle"/>
<frameangvel name="sensor_L_Toe_frameangvel" objtype="xbody" objname="L_Toe"/>
<frameangvel name="sensor_R_Hip_frameangvel" objtype="xbody" objname="R_Hip"/>
<frameangvel name="sensor_R_Knee_frameangvel" objtype="xbody" objname="R_Knee"/>
<frameangvel name="sensor_R_Ankle_frameangvel" objtype="xbody" objname="R_Ankle"/>
<frameangvel name="sensor_R_Toe_frameangvel" objtype="xbody" objname="R_Toe"/>
<frameangvel name="sensor_Torso_frameangvel" objtype="xbody" objname="Torso"/>
<frameangvel name="sensor_Spine_frameangvel" objtype="xbody" objname="Spine"/>
<frameangvel name="sensor_Chest_frameangvel" objtype="xbody" objname="Chest"/>
<frameangvel name="sensor_Neck_frameangvel" objtype="xbody" objname="Neck"/>
<frameangvel name="sensor_Head_frameangvel" objtype="xbody" objname="Head"/>
<frameangvel name="sensor_L_Thorax_frameangvel" objtype="xbody" objname="L_Thorax"/>
<frameangvel name="sensor_L_Shoulder_frameangvel" objtype="xbody" objname="L_Shoulder"/>
<frameangvel name="sensor_L_Elbow_frameangvel" objtype="xbody" objname="L_Elbow"/>
<frameangvel name="sensor_L_Wrist_frameangvel" objtype="xbody" objname="L_Wrist"/>
<frameangvel name="sensor_L_Hand_frameangvel" objtype="xbody" objname="L_Hand"/>
<frameangvel name="sensor_R_Thorax_frameangvel" objtype="xbody" objname="R_Thorax"/>
<frameangvel name="sensor_R_Shoulder_frameangvel" objtype="xbody" objname="R_Shoulder"/>
<frameangvel name="sensor_R_Elbow_frameangvel" objtype="xbody" objname="R_Elbow"/>
<frameangvel name="sensor_R_Wrist_frameangvel" objtype="xbody" objname="R_Wrist"/>
<frameangvel name="sensor_R_Hand_frameangvel" objtype="xbody" objname="R_Hand"/>
</sensor>
<size njmax="700" nconmax="700"/>
</mujoco>