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test_good.xml
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test_good.xml
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<mujoco model="humanoid">
<compiler coordinate="local"/>
<statistic extent="2" center="0 0 1"/>
<option timestep="0.00555"/>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<geom type="capsule" condim="1" friction="1.0 0.05 0.05" solimp=".9 .99 .003" solref=".015 1"/>
<joint type="hinge" damping="0.1" stiffness="5" armature=".007" limited="true" solimplimit="0 .99 .01"/>
<site size=".04" group="3"/>
<default class="force-torque">
<site type="box" size=".01 .01 .02" rgba="1 0 0 1"/>
</default>
<default class="touch">
<site type="capsule" rgba="0 0 1 .3"/>
</default>
</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"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/Pelvis.stl" name="Pelvis_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Hip.stl" name="L_Hip_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Hip.stl" name="R_Hip_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/Torso.stl" name="Torso_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Knee.stl" name="L_Knee_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Knee.stl" name="R_Knee_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/Spine.stl" name="Spine_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Ankle.stl" name="L_Ankle_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Ankle.stl" name="R_Ankle_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/Chest.stl" name="Chest_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Toe.stl" name="L_Toe_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Toe.stl" name="R_Toe_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/Neck.stl" name="Neck_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Thorax.stl" name="L_Thorax_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Thorax.stl" name="R_Thorax_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/Head.stl" name="Head_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Shoulder.stl" name="L_Shoulder_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Shoulder.stl" name="R_Shoulder_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Elbow.stl" name="L_Elbow_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Elbow.stl" name="R_Elbow_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Wrist.stl" name="L_Wrist_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Wrist.stl" name="R_Wrist_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Index1.stl" name="L_Index1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Index2.stl" name="L_Index2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Index3.stl" name="L_Index3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Middle1.stl" name="L_Middle1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Middle2.stl" name="L_Middle2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Middle3.stl" name="L_Middle3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Pinky1.stl" name="L_Pinky1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Pinky2.stl" name="L_Pinky2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Pinky3.stl" name="L_Pinky3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Ring1.stl" name="L_Ring1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Ring2.stl" name="L_Ring2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Ring3.stl" name="L_Ring3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Thumb1.stl" name="L_Thumb1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Thumb2.stl" name="L_Thumb2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/L_Thumb3.stl" name="L_Thumb3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Index1.stl" name="R_Index1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Index2.stl" name="R_Index2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Index3.stl" name="R_Index3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Middle1.stl" name="R_Middle1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Middle2.stl" name="R_Middle2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Middle3.stl" name="R_Middle3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Pinky1.stl" name="R_Pinky1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Pinky2.stl" name="R_Pinky2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Pinky3.stl" name="R_Pinky3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Ring1.stl" name="R_Ring1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Ring2.stl" name="R_Ring2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Ring3.stl" name="R_Ring3_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Thumb1.stl" name="R_Thumb1_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Thumb2.stl" name="R_Thumb2_mesh"/>
<mesh file="710eb5a9-dbb2-46d8-a0be-c55f7fed7e96/geom/R_Thumb3.stl" name="R_Thumb3_mesh"/>
</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" quat="1.0000 0.0000 0.0000 0.0000">
<freejoint name="Pelvis"/>
<geom type="mesh" mesh="Pelvis_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Hip" pos="0.0695 -0.0914 -0.0068" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Hip_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Knee" pos="0.0343 -0.3752 -0.0045" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Knee_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Knee_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Ankle" pos="-0.0136 -0.398 -0.0437" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="400" damping="40" armature="0.01" range="-180.0000 180.0000"/>
<joint name="L_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="400" damping="40" armature="0.01" range="-180.0000 180.0000"/>
<joint name="L_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="400" damping="40" armature="0.01" range="-180.0000 180.0000"/>
<geom density="465.208545" type="box" pos="0.0233 -0.0231 0.0242" size="0.0483 0.0456 0.085" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="L_Toe" pos="0.0264 -0.0558 0.1193" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Toe_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="200" damping="20" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Toe_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="200" damping="20" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Toe_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="200" damping="20" armature="0.02" range="-180.0000 180.0000"/>
<geom density="414.505891" type="box" pos="-0.0030 0.0058 0.0248" size="0.0478 0.0187 0.0496" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
</body>
</body>
<body name="R_Hip" pos="-0.0677 -0.0905 -0.0043" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Hip_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Knee" pos="-0.0383 -0.3826 -0.0089" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Knee_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Knee_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Ankle" pos="0.0158 -0.3984 -0.0423" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="400" damping="40" armature="0.01" range="-180.0000 180.0000"/>
<joint name="R_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="400" damping="40" armature="0.01" range="-180.0000 180.0000"/>
<joint name="R_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="400" damping="40" armature="0.01" range="-180.0000 180.0000"/>
<geom density="455.515249" type="box" pos="-0.0212 -0.0156 0.0256" size="0.0483 0.046 0.0865" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="R_Toe" pos="-0.0254 -0.0481 0.1233" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Toe_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="200" damping="20" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Toe_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="200" damping="20" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Toe_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="200" damping="20" armature="0.02" range="-180.0000 180.0000"/>
<geom density="395.142185" type="box" pos="0.0042 0.0054 0.0227" size="0.0479 0.0189 0.0493" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
</body>
</body>
<body name="Torso" pos="-0.0025 0.109 -0.0267" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="Torso_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Torso_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Torso_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="Torso_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="Spine" pos="0.0055 0.1352 0.0011" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="Spine_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Spine_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Spine_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="Spine_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="Chest" pos="0.0015 0.0529 0.0254" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="Chest_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Chest_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Chest_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="Chest_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="Neck" pos="-0.0028 0.2139 -0.0429" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="Neck_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Neck_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Neck_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="Neck_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="Head" pos="0.0052 0.065 0.0513" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="Head_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Head_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Head_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="Head_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
<body name="L_Thorax" pos="0.0788 0.1217 -0.0341" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thorax_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Thorax_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Shoulder" pos="0.091 0.0305 -0.0089" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Shoulder_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Shoulder_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Shoulder_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Shoulder_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Elbow" pos="0.2596 -0.0128 -0.0275" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="300" damping="30" armature="0.02" range="-720.0000 720.0000"/>
<joint name="L_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="300" damping="30" armature="0.02" range="-720.0000 720.0000"/>
<joint name="L_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="300" damping="30" armature="0.02" range="-720.0000 720.0000"/>
<geom type="mesh" mesh="L_Elbow_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Wrist" pos="0.2492 0.009 -0.0012" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Wrist_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Wrist_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Wrist_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Wrist_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Index1" pos="0.1025 -0.009 0.0215" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Index1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Index1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Index1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Index1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Index2" pos="0.0303 -0.0105 0.0015" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Index2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Index2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Index2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Index2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Index3" pos="0.007 -0.0213 -0.0017" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Index3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Index3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Index3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Index3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name="L_Middle1" pos="0.1098 -0.0061 -0.0013" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Middle1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Middle1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Middle1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Middle1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Middle2" pos="0.0266 -0.0148 -0.0047" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Middle2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Middle2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Middle2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Middle2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Middle3" pos="0.0057 -0.0231 -0.0014" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Middle3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Middle3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Middle3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Middle3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name="L_Pinky1" pos="0.0846 -0.0138 -0.0406" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Pinky1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Pinky1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Pinky1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Pinky1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Pinky2" pos="0.0128 -0.0135 -0.0045" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Pinky2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Pinky2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Pinky2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Pinky2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Pinky3" pos="0.0044 -0.0183 0.0011" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Pinky3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Pinky3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Pinky3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Pinky3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name="L_Ring1" pos="0.0978 -0.0087 -0.0243" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Ring1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Ring1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Ring1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Ring1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Ring2" pos="0.0235 -0.0157 -0.0011" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Ring2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Ring2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Ring2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Ring2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Ring3" pos="0.0044 -0.0232 0.0013" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Ring3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Ring3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Ring3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Ring3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name="L_Thumb1" pos="0.0419 -0.0199 0.0265" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Thumb1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thumb1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thumb1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Thumb1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Thumb2" pos="0.0223 -0.0165 0.0115" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Thumb2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thumb2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thumb2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Thumb2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="L_Thumb3" pos="0.0245 -0.0066 0.0063" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="L_Thumb3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thumb3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thumb3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="L_Thumb3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="R_Thorax" pos="-0.0818 0.1188 -0.0386" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thorax_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Thorax_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Shoulder" pos="-0.096 0.0326 -0.0091" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Shoulder_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Shoulder_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Shoulder_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="400" damping="40" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Shoulder_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Elbow" pos="-0.2537 -0.0133 -0.0214" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="300" damping="30" armature="0.02" range="-720.0000 720.0000"/>
<joint name="R_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="300" damping="30" armature="0.02" range="-720.0000 720.0000"/>
<joint name="R_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="300" damping="30" armature="0.02" range="-720.0000 720.0000"/>
<geom type="mesh" mesh="R_Elbow_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Wrist" pos="-0.2553 0.0078 -0.0056" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Wrist_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Wrist_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Wrist_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Wrist_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Index1" pos="-0.0993 -0.0086 0.0246" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Index1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Index1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Index1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Index1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Index2" pos="-0.0306 -0.0106 0.0006" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Index2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Index2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Index2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Index2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Index3" pos="-0.007 -0.0211 -0.0028" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Index3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Index3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Index3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Index3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name="R_Middle1" pos="-0.1072 -0.0055 0.0008" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Middle1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Middle1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Middle1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Middle1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Middle2" pos="-0.0266 -0.0145 -0.0049" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Middle2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Middle2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Middle2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Middle2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Middle3" pos="-0.0055 -0.0228 -0.0019" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Middle3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Middle3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Middle3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Middle3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name="R_Pinky1" pos="-0.083 -0.0136 -0.0394" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Pinky1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Pinky1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Pinky1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Pinky1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Pinky2" pos="-0.0127 -0.0135 -0.0048" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Pinky2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Pinky2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Pinky2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Pinky2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Pinky3" pos="-0.0045 -0.0181 0.0009" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Pinky3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Pinky3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Pinky3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Pinky3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name="R_Ring1" pos="-0.0958 -0.0083 -0.0229" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Ring1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Ring1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Ring1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Ring1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Ring2" pos="-0.0233 -0.0155 -0.0013" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Ring2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Ring2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Ring2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Ring2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Ring3" pos="-0.0042 -0.0231 0.0008" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Ring3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Ring3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Ring3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Ring3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name="R_Thumb1" pos="-0.0378 -0.0201 0.0301" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Thumb1_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thumb1_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thumb1_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Thumb1_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Thumb2" pos="-0.0219 -0.0173 0.0111" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Thumb2_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thumb2_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thumb2_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Thumb2_mesh" density="1000" contype="1" conaffinity="1"/>
<body name="R_Thumb3" pos="-0.0245 -0.0077 0.0054" quat="1.0000 0.0000 0.0000 0.0000">
<joint name="R_Thumb3_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thumb3_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thumb3_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="mesh" mesh="R_Thumb3_mesh" density="1000" contype="1" conaffinity="1"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="L_Hip_z" joint="L_Hip_z" gear="1"/>
<motor name="L_Hip_y" joint="L_Hip_y" gear="1"/>
<motor name="L_Hip_x" joint="L_Hip_x" gear="1"/>
<motor name="L_Knee_z" joint="L_Knee_z" gear="1"/>
<motor name="L_Knee_y" joint="L_Knee_y" gear="1"/>
<motor name="L_Knee_x" joint="L_Knee_x" gear="1"/>
<motor name="L_Ankle_z" joint="L_Ankle_z" gear="1"/>
<motor name="L_Ankle_y" joint="L_Ankle_y" gear="1"/>
<motor name="L_Ankle_x" joint="L_Ankle_x" gear="1"/>
<motor name="L_Toe_z" joint="L_Toe_z" gear="1"/>
<motor name="L_Toe_y" joint="L_Toe_y" gear="1"/>
<motor name="L_Toe_x" joint="L_Toe_x" gear="1"/>
<motor name="R_Hip_z" joint="R_Hip_z" gear="1"/>
<motor name="R_Hip_y" joint="R_Hip_y" gear="1"/>
<motor name="R_Hip_x" joint="R_Hip_x" gear="1"/>
<motor name="R_Knee_z" joint="R_Knee_z" gear="1"/>
<motor name="R_Knee_y" joint="R_Knee_y" gear="1"/>
<motor name="R_Knee_x" joint="R_Knee_x" gear="1"/>
<motor name="R_Ankle_z" joint="R_Ankle_z" gear="1"/>
<motor name="R_Ankle_y" joint="R_Ankle_y" gear="1"/>
<motor name="R_Ankle_x" joint="R_Ankle_x" gear="1"/>
<motor name="R_Toe_z" joint="R_Toe_z" gear="1"/>
<motor name="R_Toe_y" joint="R_Toe_y" gear="1"/>
<motor name="R_Toe_x" joint="R_Toe_x" gear="1"/>
<motor name="Torso_z" joint="Torso_z" gear="1"/>
<motor name="Torso_y" joint="Torso_y" gear="1"/>
<motor name="Torso_x" joint="Torso_x" gear="1"/>
<motor name="Spine_z" joint="Spine_z" gear="1"/>
<motor name="Spine_y" joint="Spine_y" gear="1"/>
<motor name="Spine_x" joint="Spine_x" gear="1"/>
<motor name="Chest_z" joint="Chest_z" gear="1"/>
<motor name="Chest_y" joint="Chest_y" gear="1"/>
<motor name="Chest_x" joint="Chest_x" gear="1"/>
<motor name="Neck_z" joint="Neck_z" gear="1"/>
<motor name="Neck_y" joint="Neck_y" gear="1"/>
<motor name="Neck_x" joint="Neck_x" gear="1"/>
<motor name="Head_z" joint="Head_z" gear="1"/>
<motor name="Head_y" joint="Head_y" gear="1"/>
<motor name="Head_x" joint="Head_x" gear="1"/>
<motor name="L_Thorax_z" joint="L_Thorax_z" gear="1"/>
<motor name="L_Thorax_y" joint="L_Thorax_y" gear="1"/>
<motor name="L_Thorax_x" joint="L_Thorax_x" gear="1"/>
<motor name="L_Shoulder_z" joint="L_Shoulder_z" gear="1"/>
<motor name="L_Shoulder_y" joint="L_Shoulder_y" gear="1"/>
<motor name="L_Shoulder_x" joint="L_Shoulder_x" gear="1"/>
<motor name="L_Elbow_z" joint="L_Elbow_z" gear="1"/>
<motor name="L_Elbow_y" joint="L_Elbow_y" gear="1"/>
<motor name="L_Elbow_x" joint="L_Elbow_x" gear="1"/>
<motor name="L_Wrist_z" joint="L_Wrist_z" gear="1"/>
<motor name="L_Wrist_y" joint="L_Wrist_y" gear="1"/>
<motor name="L_Wrist_x" joint="L_Wrist_x" gear="1"/>
<motor name="L_Index1_z" joint="L_Index1_z" gear="1"/>
<motor name="L_Index1_y" joint="L_Index1_y" gear="1"/>
<motor name="L_Index1_x" joint="L_Index1_x" gear="1"/>
<motor name="L_Index2_z" joint="L_Index2_z" gear="1"/>
<motor name="L_Index2_y" joint="L_Index2_y" gear="1"/>
<motor name="L_Index2_x" joint="L_Index2_x" gear="1"/>
<motor name="L_Index3_z" joint="L_Index3_z" gear="1"/>
<motor name="L_Index3_y" joint="L_Index3_y" gear="1"/>
<motor name="L_Index3_x" joint="L_Index3_x" gear="1"/>
<motor name="L_Middle1_z" joint="L_Middle1_z" gear="1"/>
<motor name="L_Middle1_y" joint="L_Middle1_y" gear="1"/>
<motor name="L_Middle1_x" joint="L_Middle1_x" gear="1"/>
<motor name="L_Middle2_z" joint="L_Middle2_z" gear="1"/>
<motor name="L_Middle2_y" joint="L_Middle2_y" gear="1"/>
<motor name="L_Middle2_x" joint="L_Middle2_x" gear="1"/>
<motor name="L_Middle3_z" joint="L_Middle3_z" gear="1"/>
<motor name="L_Middle3_y" joint="L_Middle3_y" gear="1"/>
<motor name="L_Middle3_x" joint="L_Middle3_x" gear="1"/>
<motor name="L_Pinky1_z" joint="L_Pinky1_z" gear="1"/>
<motor name="L_Pinky1_y" joint="L_Pinky1_y" gear="1"/>
<motor name="L_Pinky1_x" joint="L_Pinky1_x" gear="1"/>
<motor name="L_Pinky2_z" joint="L_Pinky2_z" gear="1"/>
<motor name="L_Pinky2_y" joint="L_Pinky2_y" gear="1"/>
<motor name="L_Pinky2_x" joint="L_Pinky2_x" gear="1"/>
<motor name="L_Pinky3_z" joint="L_Pinky3_z" gear="1"/>
<motor name="L_Pinky3_y" joint="L_Pinky3_y" gear="1"/>
<motor name="L_Pinky3_x" joint="L_Pinky3_x" gear="1"/>
<motor name="L_Ring1_z" joint="L_Ring1_z" gear="1"/>
<motor name="L_Ring1_y" joint="L_Ring1_y" gear="1"/>
<motor name="L_Ring1_x" joint="L_Ring1_x" gear="1"/>
<motor name="L_Ring2_z" joint="L_Ring2_z" gear="1"/>
<motor name="L_Ring2_y" joint="L_Ring2_y" gear="1"/>
<motor name="L_Ring2_x" joint="L_Ring2_x" gear="1"/>
<motor name="L_Ring3_z" joint="L_Ring3_z" gear="1"/>
<motor name="L_Ring3_y" joint="L_Ring3_y" gear="1"/>
<motor name="L_Ring3_x" joint="L_Ring3_x" gear="1"/>
<motor name="L_Thumb1_z" joint="L_Thumb1_z" gear="1"/>
<motor name="L_Thumb1_y" joint="L_Thumb1_y" gear="1"/>
<motor name="L_Thumb1_x" joint="L_Thumb1_x" gear="1"/>
<motor name="L_Thumb2_z" joint="L_Thumb2_z" gear="1"/>
<motor name="L_Thumb2_y" joint="L_Thumb2_y" gear="1"/>
<motor name="L_Thumb2_x" joint="L_Thumb2_x" gear="1"/>
<motor name="L_Thumb3_z" joint="L_Thumb3_z" gear="1"/>
<motor name="L_Thumb3_y" joint="L_Thumb3_y" gear="1"/>
<motor name="L_Thumb3_x" joint="L_Thumb3_x" gear="1"/>
<motor name="R_Thorax_z" joint="R_Thorax_z" gear="1"/>
<motor name="R_Thorax_y" joint="R_Thorax_y" gear="1"/>
<motor name="R_Thorax_x" joint="R_Thorax_x" gear="1"/>
<motor name="R_Shoulder_z" joint="R_Shoulder_z" gear="1"/>
<motor name="R_Shoulder_y" joint="R_Shoulder_y" gear="1"/>
<motor name="R_Shoulder_x" joint="R_Shoulder_x" gear="1"/>
<motor name="R_Elbow_z" joint="R_Elbow_z" gear="1"/>
<motor name="R_Elbow_y" joint="R_Elbow_y" gear="1"/>
<motor name="R_Elbow_x" joint="R_Elbow_x" gear="1"/>
<motor name="R_Wrist_z" joint="R_Wrist_z" gear="1"/>
<motor name="R_Wrist_y" joint="R_Wrist_y" gear="1"/>
<motor name="R_Wrist_x" joint="R_Wrist_x" gear="1"/>
<motor name="R_Index1_z" joint="R_Index1_z" gear="1"/>
<motor name="R_Index1_y" joint="R_Index1_y" gear="1"/>
<motor name="R_Index1_x" joint="R_Index1_x" gear="1"/>
<motor name="R_Index2_z" joint="R_Index2_z" gear="1"/>
<motor name="R_Index2_y" joint="R_Index2_y" gear="1"/>
<motor name="R_Index2_x" joint="R_Index2_x" gear="1"/>
<motor name="R_Index3_z" joint="R_Index3_z" gear="1"/>
<motor name="R_Index3_y" joint="R_Index3_y" gear="1"/>
<motor name="R_Index3_x" joint="R_Index3_x" gear="1"/>
<motor name="R_Middle1_z" joint="R_Middle1_z" gear="1"/>
<motor name="R_Middle1_y" joint="R_Middle1_y" gear="1"/>
<motor name="R_Middle1_x" joint="R_Middle1_x" gear="1"/>
<motor name="R_Middle2_z" joint="R_Middle2_z" gear="1"/>
<motor name="R_Middle2_y" joint="R_Middle2_y" gear="1"/>
<motor name="R_Middle2_x" joint="R_Middle2_x" gear="1"/>
<motor name="R_Middle3_z" joint="R_Middle3_z" gear="1"/>
<motor name="R_Middle3_y" joint="R_Middle3_y" gear="1"/>
<motor name="R_Middle3_x" joint="R_Middle3_x" gear="1"/>
<motor name="R_Pinky1_z" joint="R_Pinky1_z" gear="1"/>
<motor name="R_Pinky1_y" joint="R_Pinky1_y" gear="1"/>
<motor name="R_Pinky1_x" joint="R_Pinky1_x" gear="1"/>
<motor name="R_Pinky2_z" joint="R_Pinky2_z" gear="1"/>
<motor name="R_Pinky2_y" joint="R_Pinky2_y" gear="1"/>
<motor name="R_Pinky2_x" joint="R_Pinky2_x" gear="1"/>
<motor name="R_Pinky3_z" joint="R_Pinky3_z" gear="1"/>
<motor name="R_Pinky3_y" joint="R_Pinky3_y" gear="1"/>
<motor name="R_Pinky3_x" joint="R_Pinky3_x" gear="1"/>
<motor name="R_Ring1_z" joint="R_Ring1_z" gear="1"/>
<motor name="R_Ring1_y" joint="R_Ring1_y" gear="1"/>
<motor name="R_Ring1_x" joint="R_Ring1_x" gear="1"/>
<motor name="R_Ring2_z" joint="R_Ring2_z" gear="1"/>
<motor name="R_Ring2_y" joint="R_Ring2_y" gear="1"/>
<motor name="R_Ring2_x" joint="R_Ring2_x" gear="1"/>
<motor name="R_Ring3_z" joint="R_Ring3_z" gear="1"/>
<motor name="R_Ring3_y" joint="R_Ring3_y" gear="1"/>
<motor name="R_Ring3_x" joint="R_Ring3_x" gear="1"/>
<motor name="R_Thumb1_z" joint="R_Thumb1_z" gear="1"/>
<motor name="R_Thumb1_y" joint="R_Thumb1_y" gear="1"/>
<motor name="R_Thumb1_x" joint="R_Thumb1_x" gear="1"/>
<motor name="R_Thumb2_z" joint="R_Thumb2_z" gear="1"/>
<motor name="R_Thumb2_y" joint="R_Thumb2_y" gear="1"/>
<motor name="R_Thumb2_x" joint="R_Thumb2_x" gear="1"/>
<motor name="R_Thumb3_z" joint="R_Thumb3_z" gear="1"/>
<motor name="R_Thumb3_y" joint="R_Thumb3_y" gear="1"/>
<motor name="R_Thumb3_x" joint="R_Thumb3_x" gear="1"/>
</actuator>
<contact>
<exclude body1="Chest" body2="L_Shoulder"/>
<exclude body1="Chest" body2="R_Shoulder"/>
<exclude body1="Chest" body2="R_Thorax"/>
<exclude body1="Chest" body2="L_Thorax"/>
<exclude body1="L_Hip" body2="Pelvis"/>
<exclude body1="R_Hip" body2="Pelvis"/>
<exclude body1="Torso" body2="Pelvis"/>
<exclude body1="L_Knee" body2="L_Hip"/>
<exclude body1="R_Knee" body2="R_Hip"/>
<exclude body1="Spine" body2="Torso"/>
<exclude body1="L_Ankle" body2="L_Knee"/>
<exclude body1="R_Ankle" body2="R_Knee"/>
<exclude body1="Chest" body2="Spine"/>
<exclude body1="L_Toe" body2="L_Ankle"/>
<exclude body1="R_Toe" body2="R_Ankle"/>
<exclude body1="Neck" body2="Chest"/>
<exclude body1="L_Thorax" body2="Chest"/>
<exclude body1="R_Thorax" body2="Chest"/>
<exclude body1="Head" body2="Neck"/>
<exclude body1="L_Shoulder" body2="L_Thorax"/>
<exclude body1="R_Shoulder" body2="R_Thorax"/>
<exclude body1="L_Elbow" body2="L_Shoulder"/>
<exclude body1="R_Elbow" body2="R_Shoulder"/>
<exclude body1="L_Wrist" body2="L_Elbow"/>
<exclude body1="R_Wrist" body2="R_Elbow"/>
</contact>
<size njmax="2500" nconmax="500"/>
</mujoco>