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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"/>
</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="-0.0024 -0.2414 0.0298">
<freejoint name="Pelvis"/>
<geom density="3178.558757" type="box" pos="-0.0053 -0.0025 -0.0089" size="0.0858 0.1054 0.0778" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="L_Hip" pos="-0.0173 0.0589 -0.0825">
<joint name="L_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-90.0000 90.0000"/>
<joint name="L_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-90.0000 90.0000"/>
<joint name="L_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-90.0000 90.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0016 0.0087 -0.0774 0.0065 0.0347 -0.3097" size="0.0624"/>
<body name="L_Knee" pos="0.0082 0.0434 -0.3872">
<joint name="L_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-5.6250 5.6250"/>
<joint name="L_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="0.0000 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="-5.6250 5.6250"/>
<geom type="capsule" contype="1" conaffinity="1" density="1234.567901" fromto="-0.0075 -0.0030 -0.0859 -0.0301 -0.0120 -0.3434" size="0.0555"/>
<body name="L_Ankle" pos="-0.0376 -0.015 -0.4293">
<joint name="L_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-45.0000 45.0000"/>
<joint name="L_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-90.0000 90.0000"/>
<joint name="L_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-45.0000 45.0000"/>
<geom density="451.290125" type="box" pos="0.0216 0.0281 -0.0244" size="0.0894 0.0521 0.0484" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="L_Toe" pos="0.1227 0.0408 -0.0605">
<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 density="430.429078" type="box" pos="0.0258 -0.0127 0.0086" size="0.0521 0.0504 0.0209" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
</body>
</body>
<body name="R_Hip" pos="-0.0131 -0.0606 -0.0908">
<joint name="R_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-90.0000 90.0000"/>
<joint name="R_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-90.0000 90.0000"/>
<joint name="R_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-90.0000 90.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0010 -0.0086 -0.0769 -0.0039 -0.0345 -0.3077" size="0.0619"/>
<body name="R_Knee" pos="-0.0049 -0.0432 -0.3846">
<joint name="R_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-5.6250 5.6250"/>
<joint name="R_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="0.0000 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="-5.6250 5.6250"/>
<geom type="capsule" contype="1" conaffinity="1" density="1234.567901" fromto="-0.0070 0.0038 -0.0845 -0.0278 0.0154 -0.3379" size="0.0556"/>
<body name="R_Ankle" pos="-0.0348 0.0192 -0.4224">
<joint name="R_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="800" damping="80" armature="0.02" range="-45.0000 45.0000"/>
<joint name="R_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="800" damping="80" armature="0.02" range="-90.0000 90.0000"/>
<joint name="R_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="800" damping="80" armature="0.02" range="-45.0000 45.0000"/>
<geom density="437.372189" type="box" pos="0.0248 -0.0305 -0.0276" size="0.0913 0.0514 0.0505" quat="1.0000 0.0000 0.0000 0.0000"/>
<body name="R_Toe" pos="0.131 -0.0352 -0.0622">
<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 density="432.609168" type="box" pos="0.0216 0.0047 0.0060" size="0.0524 0.0508 0.0218" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
</body>
</body>
<body name="Torso" pos="-0.0393 0.0045 0.125">
<joint name="Torso_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<joint name="Torso_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<joint name="Torso_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0119 0.0020 0.0621 0.0146 0.0025 0.0760" size="0.0832"/>
<body name="Spine" pos="0.0265 0.0045 0.1381">
<joint name="Spine_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<joint name="Spine_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<joint name="Spine_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0013 -0.0010 0.0253 0.0016 -0.0012 0.0309" size="0.081"/>
<body name="Chest" pos="0.0029 -0.0022 0.0561">
<joint name="Chest_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<joint name="Chest_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<joint name="Chest_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="1000" damping="100" armature="0.02" range="-60.0000 60.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0115 -0.0037 0.0660 -0.0141 -0.0045 0.0807" size="0.1052"/>
<body name="Neck" pos="-0.034 -0.0134 0.2126">
<joint name="Neck_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="Neck_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-90.0000 90.0000"/>
<joint name="Neck_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-90.0000 90.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0100 0.0020 0.0177 0.0402 0.0081 0.0708" size="0.0457"/>
<body name="Head" pos="0.0502 0.0102 0.0885">
<joint name="Head_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="Head_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-90.0000 90.0000"/>
<joint name="Head_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-90.0000 90.0000"/>
<geom density="1015.589606" type="box" pos="-0.0085 0.0013 0.0808" size="0.0792 0.0635 0.1191" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
<body name="L_Thorax" pos="-0.0189 0.0722 0.1146">
<joint name="L_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="L_Thorax_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="L_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0039 0.0247 0.0091 -0.0154 0.0990 0.0363" size="0.0535"/>
<body name="L_Shoulder" pos="-0.0193 0.1237 0.0454">
<joint name="L_Shoulder_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_Shoulder_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_Shoulder_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="-0.0047 0.0512 -0.0032 -0.0189 0.2050 -0.0126" size="0.0558"/>
<body name="L_Elbow" pos="-0.0236 0.2562 -0.0158">
<joint name="L_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="L_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="L_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-180.0000 0.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0014 0.0535 0.0026 -0.0057 0.2140 0.0104" size="0.0431"/>
<body name="L_Wrist" pos="-0.0071 0.2675 0.013">
<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="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0031 0.0175 -0.0021 -0.0126 0.0699 -0.0086" size="0.0344"/>
<body name="L_Hand" pos="-0.0157 0.0874 -0.0107">
<joint name="L_Hand_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_Hand_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_Hand_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="300" damping="30" armature="0.02" range="-180.0000 180.0000"/>
<geom density="411.455315" type="box" pos="-0.0063 0.0521 0.0026" size="0.0573 0.0615 0.0167" quat="1.0000 0.0000 0.0000 0.0000"/>
</body>
</body>
</body>
</body>
</body>
<body name="R_Thorax" pos="-0.0238 -0.0832 0.113">
<joint name="R_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="R_Thorax_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="R_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0017 -0.0228 0.0094 -0.0069 -0.0910 0.0376" size="0.0535"/>
<body name="R_Shoulder" pos="-0.0087 -0.1138 0.047">
<joint name="R_Shoulder_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_Shoulder_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_Shoulder_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="-0.0064 -0.0522 -0.0029 -0.0256 -0.2090 -0.0115" size="0.0565"/>
<body name="R_Elbow" pos="-0.032 -0.2612 -0.0143">
<joint name="R_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="R_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="500" damping="50" armature="0.02" range="-5.6250 5.6250"/>
<joint name="R_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="500" damping="50" armature="0.02" range="0.0000 180.0000"/>
<geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0012 -0.0541 0.0013 -0.0047 -0.2164 0.0053" size="0.0437"/>
<body name="R_Wrist" pos="-0.0059 -0.2705 0.0067">
<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="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0020 -0.0179 -0.0017 -0.0081 -0.0715 -0.0070" size="0.0351"/>
<body name="R_Hand" pos="-0.0102 -0.0894 -0.0087">
<joint name="R_Hand_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_Hand_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_Hand_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="300" damping="30" armature="0.02" range="-180.0000 180.0000"/>
<geom density="414.838395" type="box" pos="-0.0090 -0.0491 0.0021" size="0.0582 0.0598 0.0174" quat="1.0000 0.0000 0.0000 0.0000"/>
</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_Hand_x" joint="L_Hand_x" gear="500"/>
<motor name="L_Hand_y" joint="L_Hand_y" gear="500"/>
<motor name="L_Hand_z" joint="L_Hand_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_Hand_x" joint="R_Hand_x" gear="500"/>
<motor name="R_Hand_y" joint="R_Hand_y" gear="500"/>
<motor name="R_Hand_z" joint="R_Hand_z" gear="500"/>
</actuator>
<contact/>
<size njmax="700" nconmax="700"/>
</mujoco>