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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="0.0049 -0.3959 0.0418">
<freejoint name="Pelvis"/>
<geom type="box" density="3137.159124" pos="-0.0049 -0.0152 -0.0007" size="0.1473 0.0965 0.1329" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="L_Hip" pos="0.0847 -0.1096 -0.0256">
<joint name="L_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0094 -0.0807 -0.0042 0.0376 -0.3228 -0.0167" size="0.0811"/>
<body name="L_Knee" pos="0.047 -0.4035 -0.0209">
<joint name="L_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Knee_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1234.567901" fromto="-0.0122 -0.0896 -0.0098 -0.0489 -0.3586 -0.0392" size="0.0694"/>
<body name="L_Ankle" pos="-0.0612 -0.4482 -0.049">
<joint name="L_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<geom type="box" density="476.23386" pos="0.0514 -0.0302 0.0222" size="0.0582 0.0498 0.0952" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="L_Toe" pos="0.0608 -0.0593 0.1269">
<joint name="L_Toe_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Toe_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_Toe_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="box" density="400.039454" pos="-0.0094 0.0024 0.0260" size="0.0542 0.0231 0.0526" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
</body>
</body>
<body name="R_Hip" pos="-0.0902 -0.1197 -0.0201">
<joint name="R_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0072 -0.0777 -0.0062 -0.0286 -0.3109 -0.0247" size="0.0802"/>
<body name="R_Knee" pos="-0.0358 -0.3886 -0.0309">
<joint name="R_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Knee_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1234.567901" fromto="0.0047 -0.0910 -0.0067 0.0187 -0.3641 -0.0268" size="0.072"/>
<body name="R_Ankle" pos="0.0233 -0.4551 -0.0335">
<joint name="R_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-180.0000 180.0000"/>
<geom type="box" density="476.181777" pos="-0.0292 -0.0281 0.0113" size="0.0582 0.0498 0.0952" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="R_Toe" pos="-0.0473 -0.0594 0.1269">
<joint name="R_Toe_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Toe_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_Toe_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="box" density="400.054316" pos="0.0181 0.0046 0.0150" size="0.0542 0.0231 0.0526" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
</body>
</body>
<body name="Torso" pos="-0.0048 0.1305 -0.0451">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0079 0.0603 -0.0064 0.0097 0.0738 -0.0078" size="0.1019"/>
<body name="Spine" pos="0.0176 0.1341 -0.0141">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0074 0.0250 0.0249 -0.0091 0.0306 0.0305" size="0.1011"/>
<body name="Chest" pos="-0.0165 0.0556 0.0554">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0039 0.0611 -0.0171 -0.0048 0.0747 -0.0209" size="0.1379"/>
<body name="Neck" pos="-0.0184 0.2026 -0.0663">
<joint name="Neck_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Neck_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="Neck_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0062 0.0344 0.0031 0.0246 0.1375 0.0123" size="0.0495"/>
<body name="Head" pos="0.0308 0.1719 0.0154">
<joint name="Head_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="Head_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="Head_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="box" density="1086.841465" pos="-0.0137 0.0449 -0.0028" size="0.0627 0.1207 0.0874" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
<body name="L_Thorax" pos="0.0556 0.1025 -0.0202">
<joint name="L_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Thorax_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_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0294 0.0133 -0.0041 0.1175 0.0533 -0.0165" size="0.0638"/>
<body name="L_Shoulder" pos="0.1469 0.0667 -0.0206">
<joint name="L_Shoulder_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Shoulder_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_Shoulder_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0570 -0.0176 -0.0130 0.2282 -0.0702 -0.0521" size="0.0705"/>
<body name="L_Elbow" pos="0.2852 -0.0878 -0.0652">
<joint name="L_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-720.0000 720.0000"/>
<joint name="L_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-720.0000 720.0000"/>
<joint name="L_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-720.0000 720.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0541 0.0068 -0.0006 0.2164 0.0274 -0.0025" size="0.0515"/>
<body name="L_Wrist" pos="0.2705 0.0342 -0.0032">
<joint name="L_Wrist_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="300" damping="30" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Wrist_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="300" damping="30" armature="0.02" range="-180.0000 180.0000"/>
<joint name="L_Wrist_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="300" damping="30" armature="0.02" range="-180.0000 180.0000"/>
<geom type="box" density="1198.881582" pos="0.0585 -0.0006 -0.0049" size="0.0551 0.0146 0.0515" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="L_Index1" pos="0.1148 -0.0091 0.0203">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0067 0.0006 0.0007 0.0270 0.0025 0.0027" size="0.0101"/>
<body name="L_Index2" pos="0.0337 0.0031 0.0034">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0047 -0.0004 0.0001 0.0188 -0.0018 0.0003" size="0.0081"/>
<body name="L_Index3" pos="0.0235 -0.0022 0.0003">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0051 -0.0000 0.0005 0.0204 -0.0002 0.0019" size="0.0067"/>
</body>
</body>
</body>
<body name="L_Middle1" pos="0.1229 -0.0056 -0.006">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0064 0.0003 -0.0009 0.0257 0.0014 -0.0035" size="0.0105"/>
<body name="L_Middle2" pos="0.0322 0.0017 -0.0043">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0049 -0.0004 -0.0009 0.0197 -0.0017 -0.0035" size="0.0075"/>
<body name="L_Middle3" pos="0.0246 -0.0021 -0.0043">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0053 -0.0000 -0.0005 0.0213 -0.0001 -0.0019" size="0.0062"/>
</body>
</body>
</body>
<body name="L_Pinky1" pos="0.0947 -0.017 -0.0503">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0032 -0.0003 -0.0025 0.0126 -0.0010 -0.0101" size="0.0073"/>
<body name="L_Pinky2" pos="0.0158 -0.0013 -0.0127">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0032 -0.0004 -0.0023 0.0129 -0.0015 -0.0093" size="0.007"/>
<body name="L_Pinky3" pos="0.0161 -0.0019 -0.0116">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0036 0.0000 -0.0019 0.0145 0.0001 -0.0077" size="0.0052"/>
</body>
</body>
</body>
<body name="L_Ring1" pos="0.1097 -0.01 -0.0326">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0059 0.0004 -0.0011 0.0236 0.0018 -0.0045" size="0.0089"/>
<body name="L_Ring2" pos="0.0295 0.0022 -0.0056">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0047 -0.0003 -0.0015 0.0189 -0.0013 -0.0060" size="0.008"/>
<body name="L_Ring3" pos="0.0237 -0.0016 -0.0075">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0051 0.0001 -0.0011 0.0205 0.0003 -0.0044" size="0.0061"/>
</body>
</body>
</body>
<body name="L_Thumb1" pos="0.0458 -0.0207 0.029">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0035 0.0003 0.0053 0.0142 0.0014 0.0214" size="0.0137"/>
<body name="L_Thumb2" pos="0.0177 0.0017 0.0267">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0043 -0.0012 0.0033 0.0170 -0.0048 0.0132" size="0.0106"/>
<body name="L_Thumb3" pos="0.0213 -0.0059 0.0164">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0047 -0.0008 0.0037 0.0186 -0.0032 0.0148" size="0.0096"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="R_Thorax" pos="-0.0635 0.1022 -0.0275">
<joint name="R_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Thorax_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_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0248 0.0124 -0.0046 -0.0992 0.0494 -0.0186" size="0.07"/>
<body name="R_Shoulder" pos="-0.124 0.0618 -0.0232">
<joint name="R_Shoulder_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Shoulder_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_Shoulder_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0615 -0.0081 -0.0076 -0.2461 -0.0323 -0.0303" size="0.0703"/>
<body name="R_Elbow" pos="-0.3076 -0.0404 -0.0379">
<joint name="R_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-720.0000 720.0000"/>
<joint name="R_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-720.0000 720.0000"/>
<joint name="R_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-720.0000 720.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0535 -0.0010 -0.0038 -0.2142 -0.0039 -0.0150" size="0.0518"/>
<body name="R_Wrist" pos="-0.2677 -0.0049 -0.0188">
<joint name="R_Wrist_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="300" damping="30" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Wrist_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="300" damping="30" armature="0.02" range="-180.0000 180.0000"/>
<joint name="R_Wrist_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="300" damping="30" armature="0.02" range="-180.0000 180.0000"/>
<geom type="box" density="1231.876311" pos="-0.0601 -0.0037 -0.0066" size="0.0518 0.0146 0.0515" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="R_Index1" pos="-0.1126 -0.0121 0.0187">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0067 0.0006 0.0007 -0.0270 0.0025 0.0027" size="0.0101"/>
<body name="R_Index2" pos="-0.0337 0.0031 0.0034">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0047 -0.0004 0.0001 -0.0188 -0.0018 0.0003" size="0.0081"/>
<body name="R_Index3" pos="-0.0235 -0.0022 0.0003">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0043 -0.0000 0.0005 -0.0172 -0.0002 0.0019" size="0.007"/>
</body>
</body>
</body>
<body name="R_Middle1" pos="-0.1208 -0.0087 -0.0076">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0064 0.0003 -0.0009 -0.0257 0.0014 -0.0035" size="0.0105"/>
<body name="R_Middle2" pos="-0.0322 0.0017 -0.0043">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0049 -0.0004 -0.0009 -0.0197 -0.0017 -0.0035" size="0.0075"/>
<body name="R_Middle3" pos="-0.0246 -0.0021 -0.0043">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0045 -0.0000 -0.0005 -0.0181 -0.0001 -0.0019" size="0.0065"/>
</body>
</body>
</body>
<body name="R_Pinky1" pos="-0.0926 -0.0201 -0.052">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0032 -0.0003 -0.0025 -0.0126 -0.0010 -0.0101" size="0.0073"/>
<body name="R_Pinky2" pos="-0.0158 -0.0013 -0.0127">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0032 -0.0004 -0.0023 -0.0129 -0.0015 -0.0093" size="0.007"/>
<body name="R_Pinky3" pos="-0.0161 -0.0019 -0.0116">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0028 0.0000 -0.0019 -0.0113 0.0001 -0.0077" size="0.0054"/>
</body>
</body>
</body>
<body name="R_Ring1" pos="-0.1076 -0.013 -0.0343">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0059 0.0004 -0.0011 -0.0236 0.0018 -0.0045" size="0.0089"/>
<body name="R_Ring2" pos="-0.0295 0.0022 -0.0056">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0047 -0.0003 -0.0015 -0.0189 -0.0013 -0.0060" size="0.008"/>
<body name="R_Ring3" pos="-0.0237 -0.0016 -0.0075">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0043 0.0001 -0.0011 -0.0173 0.0003 -0.0044" size="0.0063"/>
</body>
</body>
</body>
<body name="R_Thumb1" pos="-0.0436 -0.0237 0.0273">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0036 0.0003 0.0053 -0.0142 0.0014 0.0214" size="0.0137"/>
<body name="R_Thumb2" pos="-0.0178 0.0017 0.0267">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0043 -0.0012 0.0033 -0.0170 -0.0048 0.0132" size="0.0106"/>
<body name="R_Thumb3" pos="-0.0213 -0.0059 0.0164">
<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"/>
<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_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0039 -0.0008 0.0037 -0.0154 -0.0032 0.0148" size="0.0098"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="L_Hip_x" joint="L_Hip_x" gear="500"/>
<motor name="L_Hip_y" joint="L_Hip_y" gear="500"/>
<motor name="L_Hip_z" joint="L_Hip_z" gear="500"/>
<motor name="L_Knee_x" joint="L_Knee_x" gear="500"/>
<motor name="L_Knee_y" joint="L_Knee_y" gear="500"/>
<motor name="L_Knee_z" joint="L_Knee_z" gear="500"/>
<motor name="L_Ankle_x" joint="L_Ankle_x" gear="500"/>
<motor name="L_Ankle_y" joint="L_Ankle_y" gear="500"/>
<motor name="L_Ankle_z" joint="L_Ankle_z" gear="500"/>
<motor name="L_Toe_x" joint="L_Toe_x" gear="500"/>
<motor name="L_Toe_y" joint="L_Toe_y" gear="500"/>
<motor name="L_Toe_z" joint="L_Toe_z" gear="500"/>
<motor name="R_Hip_x" joint="R_Hip_x" gear="500"/>
<motor name="R_Hip_y" joint="R_Hip_y" gear="500"/>
<motor name="R_Hip_z" joint="R_Hip_z" gear="500"/>
<motor name="R_Knee_x" joint="R_Knee_x" gear="500"/>
<motor name="R_Knee_y" joint="R_Knee_y" gear="500"/>
<motor name="R_Knee_z" joint="R_Knee_z" gear="500"/>
<motor name="R_Ankle_x" joint="R_Ankle_x" gear="500"/>
<motor name="R_Ankle_y" joint="R_Ankle_y" gear="500"/>
<motor name="R_Ankle_z" joint="R_Ankle_z" gear="500"/>
<motor name="R_Toe_x" joint="R_Toe_x" gear="500"/>
<motor name="R_Toe_y" joint="R_Toe_y" gear="500"/>
<motor name="R_Toe_z" joint="R_Toe_z" gear="500"/>
<motor name="Torso_x" joint="Torso_x" gear="500"/>
<motor name="Torso_y" joint="Torso_y" gear="500"/>
<motor name="Torso_z" joint="Torso_z" gear="500"/>
<motor name="Spine_x" joint="Spine_x" gear="500"/>
<motor name="Spine_y" joint="Spine_y" gear="500"/>
<motor name="Spine_z" joint="Spine_z" gear="500"/>
<motor name="Chest_x" joint="Chest_x" gear="500"/>
<motor name="Chest_y" joint="Chest_y" gear="500"/>
<motor name="Chest_z" joint="Chest_z" gear="500"/>
<motor name="Neck_x" joint="Neck_x" gear="500"/>
<motor name="Neck_y" joint="Neck_y" gear="500"/>
<motor name="Neck_z" joint="Neck_z" gear="500"/>
<motor name="Head_x" joint="Head_x" gear="500"/>
<motor name="Head_y" joint="Head_y" gear="500"/>
<motor name="Head_z" joint="Head_z" gear="500"/>
<motor name="L_Thorax_x" joint="L_Thorax_x" gear="500"/>
<motor name="L_Thorax_y" joint="L_Thorax_y" gear="500"/>
<motor name="L_Thorax_z" joint="L_Thorax_z" gear="500"/>
<motor name="L_Shoulder_x" joint="L_Shoulder_x" gear="500"/>
<motor name="L_Shoulder_y" joint="L_Shoulder_y" gear="500"/>
<motor name="L_Shoulder_z" joint="L_Shoulder_z" gear="500"/>
<motor name="L_Elbow_x" joint="L_Elbow_x" gear="500"/>
<motor name="L_Elbow_y" joint="L_Elbow_y" gear="500"/>
<motor name="L_Elbow_z" joint="L_Elbow_z" gear="500"/>
<motor name="L_Wrist_x" joint="L_Wrist_x" gear="500"/>
<motor name="L_Wrist_y" joint="L_Wrist_y" gear="500"/>
<motor name="L_Wrist_z" joint="L_Wrist_z" gear="500"/>
<motor name="L_Index1_x" joint="L_Index1_x" gear="500"/>
<motor name="L_Index1_y" joint="L_Index1_y" gear="500"/>
<motor name="L_Index1_z" joint="L_Index1_z" gear="500"/>
<motor name="L_Index2_x" joint="L_Index2_x" gear="500"/>
<motor name="L_Index2_y" joint="L_Index2_y" gear="500"/>
<motor name="L_Index2_z" joint="L_Index2_z" gear="500"/>
<motor name="L_Index3_x" joint="L_Index3_x" gear="500"/>
<motor name="L_Index3_y" joint="L_Index3_y" gear="500"/>
<motor name="L_Index3_z" joint="L_Index3_z" gear="500"/>
<motor name="L_Middle1_x" joint="L_Middle1_x" gear="500"/>
<motor name="L_Middle1_y" joint="L_Middle1_y" gear="500"/>
<motor name="L_Middle1_z" joint="L_Middle1_z" gear="500"/>
<motor name="L_Middle2_x" joint="L_Middle2_x" gear="500"/>
<motor name="L_Middle2_y" joint="L_Middle2_y" gear="500"/>
<motor name="L_Middle2_z" joint="L_Middle2_z" gear="500"/>
<motor name="L_Middle3_x" joint="L_Middle3_x" gear="500"/>
<motor name="L_Middle3_y" joint="L_Middle3_y" gear="500"/>
<motor name="L_Middle3_z" joint="L_Middle3_z" gear="500"/>
<motor name="L_Pinky1_x" joint="L_Pinky1_x" gear="500"/>
<motor name="L_Pinky1_y" joint="L_Pinky1_y" gear="500"/>
<motor name="L_Pinky1_z" joint="L_Pinky1_z" gear="500"/>
<motor name="L_Pinky2_x" joint="L_Pinky2_x" gear="500"/>
<motor name="L_Pinky2_y" joint="L_Pinky2_y" gear="500"/>
<motor name="L_Pinky2_z" joint="L_Pinky2_z" gear="500"/>
<motor name="L_Pinky3_x" joint="L_Pinky3_x" gear="500"/>
<motor name="L_Pinky3_y" joint="L_Pinky3_y" gear="500"/>
<motor name="L_Pinky3_z" joint="L_Pinky3_z" gear="500"/>
<motor name="L_Ring1_x" joint="L_Ring1_x" gear="500"/>
<motor name="L_Ring1_y" joint="L_Ring1_y" gear="500"/>
<motor name="L_Ring1_z" joint="L_Ring1_z" gear="500"/>
<motor name="L_Ring2_x" joint="L_Ring2_x" gear="500"/>
<motor name="L_Ring2_y" joint="L_Ring2_y" gear="500"/>
<motor name="L_Ring2_z" joint="L_Ring2_z" gear="500"/>
<motor name="L_Ring3_x" joint="L_Ring3_x" gear="500"/>
<motor name="L_Ring3_y" joint="L_Ring3_y" gear="500"/>
<motor name="L_Ring3_z" joint="L_Ring3_z" gear="500"/>
<motor name="L_Thumb1_x" joint="L_Thumb1_x" gear="500"/>
<motor name="L_Thumb1_y" joint="L_Thumb1_y" gear="500"/>
<motor name="L_Thumb1_z" joint="L_Thumb1_z" gear="500"/>
<motor name="L_Thumb2_x" joint="L_Thumb2_x" gear="500"/>
<motor name="L_Thumb2_y" joint="L_Thumb2_y" gear="500"/>
<motor name="L_Thumb2_z" joint="L_Thumb2_z" gear="500"/>
<motor name="L_Thumb3_x" joint="L_Thumb3_x" gear="500"/>
<motor name="L_Thumb3_y" joint="L_Thumb3_y" gear="500"/>
<motor name="L_Thumb3_z" joint="L_Thumb3_z" gear="500"/>
<motor name="R_Thorax_x" joint="R_Thorax_x" gear="500"/>
<motor name="R_Thorax_y" joint="R_Thorax_y" gear="500"/>
<motor name="R_Thorax_z" joint="R_Thorax_z" gear="500"/>
<motor name="R_Shoulder_x" joint="R_Shoulder_x" gear="500"/>
<motor name="R_Shoulder_y" joint="R_Shoulder_y" gear="500"/>
<motor name="R_Shoulder_z" joint="R_Shoulder_z" gear="500"/>
<motor name="R_Elbow_x" joint="R_Elbow_x" gear="500"/>
<motor name="R_Elbow_y" joint="R_Elbow_y" gear="500"/>
<motor name="R_Elbow_z" joint="R_Elbow_z" gear="500"/>
<motor name="R_Wrist_x" joint="R_Wrist_x" gear="500"/>
<motor name="R_Wrist_y" joint="R_Wrist_y" gear="500"/>
<motor name="R_Wrist_z" joint="R_Wrist_z" gear="500"/>
<motor name="R_Index1_x" joint="R_Index1_x" gear="500"/>
<motor name="R_Index1_y" joint="R_Index1_y" gear="500"/>
<motor name="R_Index1_z" joint="R_Index1_z" gear="500"/>
<motor name="R_Index2_x" joint="R_Index2_x" gear="500"/>
<motor name="R_Index2_y" joint="R_Index2_y" gear="500"/>
<motor name="R_Index2_z" joint="R_Index2_z" gear="500"/>
<motor name="R_Index3_x" joint="R_Index3_x" gear="500"/>
<motor name="R_Index3_y" joint="R_Index3_y" gear="500"/>
<motor name="R_Index3_z" joint="R_Index3_z" gear="500"/>
<motor name="R_Middle1_x" joint="R_Middle1_x" gear="500"/>
<motor name="R_Middle1_y" joint="R_Middle1_y" gear="500"/>
<motor name="R_Middle1_z" joint="R_Middle1_z" gear="500"/>
<motor name="R_Middle2_x" joint="R_Middle2_x" gear="500"/>
<motor name="R_Middle2_y" joint="R_Middle2_y" gear="500"/>
<motor name="R_Middle2_z" joint="R_Middle2_z" gear="500"/>
<motor name="R_Middle3_x" joint="R_Middle3_x" gear="500"/>
<motor name="R_Middle3_y" joint="R_Middle3_y" gear="500"/>
<motor name="R_Middle3_z" joint="R_Middle3_z" gear="500"/>
<motor name="R_Pinky1_x" joint="R_Pinky1_x" gear="500"/>
<motor name="R_Pinky1_y" joint="R_Pinky1_y" gear="500"/>
<motor name="R_Pinky1_z" joint="R_Pinky1_z" gear="500"/>
<motor name="R_Pinky2_x" joint="R_Pinky2_x" gear="500"/>
<motor name="R_Pinky2_y" joint="R_Pinky2_y" gear="500"/>
<motor name="R_Pinky2_z" joint="R_Pinky2_z" gear="500"/>
<motor name="R_Pinky3_x" joint="R_Pinky3_x" gear="500"/>
<motor name="R_Pinky3_y" joint="R_Pinky3_y" gear="500"/>
<motor name="R_Pinky3_z" joint="R_Pinky3_z" gear="500"/>
<motor name="R_Ring1_x" joint="R_Ring1_x" gear="500"/>
<motor name="R_Ring1_y" joint="R_Ring1_y" gear="500"/>
<motor name="R_Ring1_z" joint="R_Ring1_z" gear="500"/>
<motor name="R_Ring2_x" joint="R_Ring2_x" gear="500"/>
<motor name="R_Ring2_y" joint="R_Ring2_y" gear="500"/>
<motor name="R_Ring2_z" joint="R_Ring2_z" gear="500"/>
<motor name="R_Ring3_x" joint="R_Ring3_x" gear="500"/>
<motor name="R_Ring3_y" joint="R_Ring3_y" gear="500"/>
<motor name="R_Ring3_z" joint="R_Ring3_z" gear="500"/>
<motor name="R_Thumb1_x" joint="R_Thumb1_x" gear="500"/>
<motor name="R_Thumb1_y" joint="R_Thumb1_y" gear="500"/>
<motor name="R_Thumb1_z" joint="R_Thumb1_z" gear="500"/>
<motor name="R_Thumb2_x" joint="R_Thumb2_x" gear="500"/>
<motor name="R_Thumb2_y" joint="R_Thumb2_y" gear="500"/>
<motor name="R_Thumb2_z" joint="R_Thumb2_z" gear="500"/>
<motor name="R_Thumb3_x" joint="R_Thumb3_x" gear="500"/>
<motor name="R_Thumb3_y" joint="R_Thumb3_y" gear="500"/>
<motor name="R_Thumb3_z" joint="R_Thumb3_z" gear="500"/>
</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/>
<size njmax="700" nconmax="700"/>
</mujoco>