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Kashu7100 commited on
Commit
92af875
·
1 Parent(s): 097e692

add smplx humanoid (y-up)

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  1. humanoids/smplx_humanoid/smplx_humanoid.xml +498 -0
humanoids/smplx_humanoid/smplx_humanoid.xml ADDED
@@ -0,0 +1,498 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="humanoid">
2
+ <compiler coordinate="local"/>
3
+ <default>
4
+ <joint damping="0.0" armature="0.01" stiffness="0.0" limited="true"/>
5
+ <geom conaffinity="1" condim="3" contype="7" margin="0.001"/>
6
+ </default>
7
+ <asset>
8
+ <material name="default_material" rgba="0.8 0.6 0.4 1"/>
9
+ <!-- <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" width="100" height="100"/>
10
+ <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"/>
11
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
12
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/> -->
13
+ <!-- <material name="geom" texture="texgeom" texuniform="true"/> -->
14
+ </asset>
15
+ <worldbody>
16
+ <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"/>
17
+ <!-- <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"/> -->
18
+ <body name="Pelvis" pos="0.0031 -0.3514 0.012">
19
+ <freejoint name="Pelvis"/>
20
+ <geom type="sphere" contype="1" conaffinity="1" density="4629.6296296296305" size="0.0985" pos="0.0000 0.0000 0.0000" name="Pelvis" material="default_material"/>
21
+ <body name="L_Hip" pos="0.0582 -0.0928 -0.026">
22
+ <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"/>
23
+ <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"/>
24
+ <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"/>
25
+ <geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0109 -0.0758 -0.0019 0.0438 -0.3030 -0.0075" size="0.0605" name="L_Hip" material="default_material"/>
26
+ <body name="L_Knee" pos="0.0547 -0.3788 -0.0094">
27
+ <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"/>
28
+ <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"/>
29
+ <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"/>
30
+ <geom type="capsule" contype="1" conaffinity="1" density="1234.567901" fromto="-0.0087 -0.0806 -0.0064 -0.0348 -0.3224 -0.0255" size="0.0533" name="L_Knee" material="default_material"/>
31
+ <body name="L_Ankle" pos="-0.0435 -0.4031 -0.0319">
32
+ <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"/>
33
+ <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"/>
34
+ <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"/>
35
+ <geom type="box" density="445.819015" pos="0.0407 -0.0287 0.0232" size="0.0498 0.0464 0.0857" quat="1.0000 0.0000 0.0000 0.0000" name="L_Ankle" material="default_material"/>
36
+ <body name="L_Toe" pos="0.0473 -0.058 0.1182">
37
+ <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"/>
38
+ <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"/>
39
+ <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"/>
40
+ <geom type="box" density="421.767577" pos="-0.0065 0.0034 0.0256" size="0.0478 0.0205 0.0495" quat="1.0000 0.0000 0.0000 0.0000" name="L_Toe" material="default_material"/>
41
+ </body>
42
+ </body>
43
+ </body>
44
+ </body>
45
+ <body name="R_Hip" pos="-0.0633 -0.1039 -0.0213">
46
+ <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"/>
47
+ <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"/>
48
+ <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"/>
49
+ <geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0088 -0.0725 -0.0034 -0.0354 -0.2899 -0.0135" size="0.0598" name="R_Hip" material="default_material"/>
50
+ <body name="R_Knee" pos="-0.0442 -0.3624 -0.0168">
51
+ <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"/>
52
+ <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"/>
53
+ <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"/>
54
+ <geom type="capsule" contype="1" conaffinity="1" density="1234.567901" fromto="0.0031 -0.0821 -0.0040 0.0123 -0.3286 -0.0162" size="0.0551" name="R_Knee" material="default_material"/>
55
+ <body name="R_Ankle" pos="0.0154 -0.4107 -0.0202">
56
+ <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"/>
57
+ <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"/>
58
+ <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"/>
59
+ <geom type="box" density="445.807856" pos="-0.0243 -0.0263 0.0142" size="0.0498 0.0464 0.0857" quat="1.0000 0.0000 0.0000 0.0000" name="R_Ankle" material="default_material"/>
60
+ <body name="R_Toe" pos="-0.0388 -0.0583 0.119">
61
+ <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"/>
62
+ <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"/>
63
+ <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"/>
64
+ <geom type="box" density="421.7641" pos="0.0145 0.0062 0.0158" size="0.0478 0.0205 0.0495" quat="1.0000 0.0000 0.0000 0.0000" name="R_Toe" material="default_material"/>
65
+ </body>
66
+ </body>
67
+ </body>
68
+ </body>
69
+ <body name="Torso" pos="-0.0028 0.1099 -0.0276">
70
+ <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"/>
71
+ <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"/>
72
+ <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"/>
73
+ <geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="0.0043 0.0593 -0.0027 0.0052 0.0725 -0.0033" size="0.0719" name="Torso" material="default_material"/>
74
+ <body name="Spine" pos="0.0094 0.1319 -0.0059">
75
+ <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"/>
76
+ <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"/>
77
+ <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"/>
78
+ <geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0051 0.0235 0.0128 -0.0062 0.0287 0.0156" size="0.076" name="Spine" material="default_material"/>
79
+ <body name="Chest" pos="-0.0113 0.0522 0.0284">
80
+ <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"/>
81
+ <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"/>
82
+ <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"/>
83
+ <geom type="capsule" contype="1" conaffinity="1" density="2040.816327" fromto="-0.0020 0.0502 -0.0078 -0.0025 0.0613 -0.0096" size="0.1028" name="Chest" material="default_material"/>
84
+ <body name="Neck" pos="-0.0122 0.1652 -0.0316">
85
+ <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"/>
86
+ <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"/>
87
+ <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"/>
88
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0050 0.0321 0.0041 0.0198 0.1284 0.0166" size="0.0419" name="Neck" material="default_material"/>
89
+ <body name="Head" pos="0.0248 0.1605 0.0207">
90
+ <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"/>
91
+ <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"/>
92
+ <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"/>
93
+ <geom type="sphere" contype="1" conaffinity="1" density="1000" size="0.1011" pos="0.0000 0.0000 0.0000" name="Head" material="default_material"/>
94
+ </body>
95
+ </body>
96
+ <body name="L_Thorax" pos="0.0464 0.0849 -0.0072">
97
+ <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"/>
98
+ <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"/>
99
+ <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"/>
100
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0238 0.0115 -0.0031 0.0954 0.0462 -0.0124" size="0.0488" name="L_Thorax" material="default_material"/>
101
+ <body name="L_Shoulder" pos="0.1192 0.0577 -0.0155">
102
+ <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"/>
103
+ <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"/>
104
+ <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"/>
105
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0508 -0.0144 -0.0085 0.2033 -0.0577 -0.0340" size="0.0522" name="L_Shoulder" material="default_material"/>
106
+ <body name="L_Elbow" pos="0.2541 -0.0722 -0.0425">
107
+ <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"/>
108
+ <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"/>
109
+ <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"/>
110
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0504 0.0046 -0.0005 0.2016 0.0186 -0.0020" size="0.0401" name="L_Elbow" material="default_material"/>
111
+ <body name="L_Wrist" pos="0.252 0.0232 -0.0025">
112
+ <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"/>
113
+ <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"/>
114
+ <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"/>
115
+ <geom type="box" density="1198.335963" pos="0.0523 -0.0013 -0.0031" size="0.0484 0.0122 0.046" quat="1.0000 0.0000 0.0000 0.0000" name="L_Wrist" material="default_material"/>
116
+ <body name="L_Index1" pos="0.1019 -0.0087 0.0194">
117
+ <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"/>
118
+ <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"/>
119
+ <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"/>
120
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0064 0.0004 0.0006 0.0256 0.0018 0.0024" size="0.0091" name="L_Index1" material="default_material"/>
121
+ <body name="L_Index2" pos="0.0319 0.0022 0.003">
122
+ <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"/>
123
+ <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"/>
124
+ <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"/>
125
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0045 -0.0005 0.0000 0.0180 -0.0019 0.0000" size="0.0076" name="L_Index2" material="default_material"/>
126
+ <body name="L_Index3" pos="0.0225 -0.0024 0.0001">
127
+ <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"/>
128
+ <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"/>
129
+ <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"/>
130
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0049 -0.0001 0.0004 0.0196 -0.0003 0.0016" size="0.0064" name="L_Index3" material="default_material"/>
131
+ </body>
132
+ </body>
133
+ </body>
134
+ <body name="L_Middle1" pos="0.1094 -0.0063 -0.004">
135
+ <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"/>
136
+ <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"/>
137
+ <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"/>
138
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0061 0.0002 -0.0008 0.0245 0.0006 -0.0032" size="0.0094" name="L_Middle1" material="default_material"/>
139
+ <body name="L_Middle2" pos="0.0306 0.0008 -0.004">
140
+ <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"/>
141
+ <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"/>
142
+ <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"/>
143
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0047 -0.0004 -0.0008 0.0188 -0.0016 -0.0033" size="0.007" name="L_Middle2" material="default_material"/>
144
+ <body name="L_Middle3" pos="0.0235 -0.002 -0.0041">
145
+ <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"/>
146
+ <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"/>
147
+ <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"/>
148
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0051 -0.0000 -0.0004 0.0204 -0.0000 -0.0017" size="0.0061" name="L_Middle3" material="default_material"/>
149
+ </body>
150
+ </body>
151
+ </body>
152
+ <body name="L_Pinky1" pos="0.084 -0.0145 -0.0437">
153
+ <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"/>
154
+ <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"/>
155
+ <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"/>
156
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0031 -0.0002 -0.0024 0.0124 -0.0009 -0.0096" size="0.0067" name="L_Pinky1" material="default_material"/>
157
+ <body name="L_Pinky2" pos="0.0155 -0.0011 -0.012">
158
+ <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"/>
159
+ <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"/>
160
+ <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"/>
161
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0031 -0.0003 -0.0022 0.0124 -0.0013 -0.0090" size="0.0065" name="L_Pinky2" material="default_material"/>
162
+ <body name="L_Pinky3" pos="0.0155 -0.0017 -0.0112">
163
+ <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"/>
164
+ <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"/>
165
+ <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"/>
166
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0035 0.0001 -0.0018 0.0140 0.0003 -0.0074" size="0.005" name="L_Pinky3" material="default_material"/>
167
+ </body>
168
+ </body>
169
+ </body>
170
+ <body name="L_Ring1" pos="0.0974 -0.0093 -0.0273">
171
+ <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"/>
172
+ <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"/>
173
+ <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"/>
174
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0056 0.0003 -0.0011 0.0224 0.0012 -0.0042" size="0.008" name="L_Ring1" material="default_material"/>
175
+ <body name="L_Ring2" pos="0.028 0.0015 -0.0053">
176
+ <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"/>
177
+ <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"/>
178
+ <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"/>
179
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0046 -0.0003 -0.0014 0.0183 -0.0012 -0.0057" size="0.0074" name="L_Ring2" material="default_material"/>
180
+ <body name="L_Ring3" pos="0.0228 -0.0015 -0.0071">
181
+ <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"/>
182
+ <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"/>
183
+ <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"/>
184
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0050 0.0001 -0.0010 0.0199 0.0004 -0.0041" size="0.0057" name="L_Ring3" material="default_material"/>
185
+ </body>
186
+ </body>
187
+ </body>
188
+ <body name="L_Thumb1" pos="0.0406 -0.018 0.0256">
189
+ <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"/>
190
+ <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"/>
191
+ <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"/>
192
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0034 0.0002 0.0050 0.0136 0.0008 0.0200" size="0.012" name="L_Thumb1" material="default_material"/>
193
+ <body name="L_Thumb2" pos="0.017 0.001 0.025">
194
+ <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"/>
195
+ <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"/>
196
+ <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"/>
197
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0041 -0.0010 0.0031 0.0164 -0.0041 0.0124" size="0.0095" name="L_Thumb2" material="default_material"/>
198
+ <body name="L_Thumb3" pos="0.0205 -0.0052 0.0155">
199
+ <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"/>
200
+ <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"/>
201
+ <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"/>
202
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="0.0045 -0.0006 0.0035 0.0180 -0.0025 0.0140" size="0.0087" name="L_Thumb3" material="default_material"/>
203
+ </body>
204
+ </body>
205
+ </body>
206
+ </body>
207
+ </body>
208
+ </body>
209
+ </body>
210
+ <body name="R_Thorax" pos="-0.0477 0.0843 -0.0134">
211
+ <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"/>
212
+ <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"/>
213
+ <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"/>
214
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0205 0.0107 -0.0025 -0.0821 0.0428 -0.0101" size="0.0536" name="R_Thorax" material="default_material"/>
215
+ <body name="R_Shoulder" pos="-0.1026 0.0535 -0.0127">
216
+ <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"/>
217
+ <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"/>
218
+ <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"/>
219
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0542 -0.0073 -0.0053 -0.2169 -0.0292 -0.0212" size="0.0521" name="R_Shoulder" material="default_material"/>
220
+ <body name="R_Elbow" pos="-0.2711 -0.0365 -0.0265">
221
+ <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"/>
222
+ <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"/>
223
+ <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"/>
224
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0499 -0.0009 -0.0031 -0.1994 -0.0036 -0.0123" size="0.0404" name="R_Elbow" material="default_material"/>
225
+ <body name="R_Wrist" pos="-0.2493 -0.0045 -0.0153">
226
+ <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"/>
227
+ <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"/>
228
+ <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"/>
229
+ <geom type="box" density="1230.822844" pos="-0.0537 -0.0044 -0.0029" size="0.0454 0.0122 0.046" quat="1.0000 0.0000 0.0000 0.0000" name="R_Wrist" material="default_material"/>
230
+ <body name="R_Index1" pos="-0.0999 -0.0118 0.0196">
231
+ <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"/>
232
+ <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"/>
233
+ <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"/>
234
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0064 0.0004 0.0006 -0.0256 0.0018 0.0024" size="0.0091" name="R_Index1" material="default_material"/>
235
+ <body name="R_Index2" pos="-0.0319 0.0022 0.003">
236
+ <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"/>
237
+ <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"/>
238
+ <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"/>
239
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0045 -0.0005 0.0000 -0.0180 -0.0019 0.0000" size="0.0076" name="R_Index2" material="default_material"/>
240
+ <body name="R_Index3" pos="-0.0225 -0.0023 0.0001">
241
+ <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"/>
242
+ <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"/>
243
+ <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"/>
244
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0041 -0.0001 0.0004 -0.0164 -0.0003 0.0016" size="0.0067" name="R_Index3" material="default_material"/>
245
+ </body>
246
+ </body>
247
+ </body>
248
+ <body name="R_Middle1" pos="-0.1074 -0.0094 -0.0037">
249
+ <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"/>
250
+ <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"/>
251
+ <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"/>
252
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0061 0.0002 -0.0008 -0.0245 0.0006 -0.0032" size="0.0094" name="R_Middle1" material="default_material"/>
253
+ <body name="R_Middle2" pos="-0.0306 0.0008 -0.004">
254
+ <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"/>
255
+ <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"/>
256
+ <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"/>
257
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0047 -0.0004 -0.0008 -0.0188 -0.0016 -0.0033" size="0.007" name="R_Middle2" material="default_material"/>
258
+ <body name="R_Middle3" pos="-0.0235 -0.002 -0.0041">
259
+ <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"/>
260
+ <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"/>
261
+ <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"/>
262
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0043 -0.0000 -0.0004 -0.0172 -0.0000 -0.0017" size="0.0064" name="R_Middle3" material="default_material"/>
263
+ </body>
264
+ </body>
265
+ </body>
266
+ <body name="R_Pinky1" pos="-0.082 -0.0176 -0.0435">
267
+ <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"/>
268
+ <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"/>
269
+ <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"/>
270
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0031 -0.0002 -0.0024 -0.0124 -0.0009 -0.0096" size="0.0067" name="R_Pinky1" material="default_material"/>
271
+ <body name="R_Pinky2" pos="-0.0155 -0.0011 -0.012">
272
+ <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"/>
273
+ <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"/>
274
+ <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"/>
275
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0031 -0.0003 -0.0022 -0.0124 -0.0013 -0.0090" size="0.0065" name="R_Pinky2" material="default_material"/>
276
+ <body name="R_Pinky3" pos="-0.0155 -0.0017 -0.0112">
277
+ <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"/>
278
+ <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"/>
279
+ <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"/>
280
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0027 0.0001 -0.0018 -0.0108 0.0003 -0.0074" size="0.0052" name="R_Pinky3" material="default_material"/>
281
+ </body>
282
+ </body>
283
+ </body>
284
+ <body name="R_Ring1" pos="-0.0954 -0.0124 -0.0271">
285
+ <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"/>
286
+ <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"/>
287
+ <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"/>
288
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0056 0.0003 -0.0011 -0.0224 0.0012 -0.0042" size="0.008" name="R_Ring1" material="default_material"/>
289
+ <body name="R_Ring2" pos="-0.028 0.0015 -0.0053">
290
+ <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"/>
291
+ <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"/>
292
+ <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"/>
293
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0046 -0.0003 -0.0014 -0.0183 -0.0012 -0.0057" size="0.0074" name="R_Ring2" material="default_material"/>
294
+ <body name="R_Ring3" pos="-0.0228 -0.0015 -0.0071">
295
+ <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"/>
296
+ <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"/>
297
+ <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"/>
298
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0042 0.0001 -0.0010 -0.0167 0.0004 -0.0041" size="0.006" name="R_Ring3" material="default_material"/>
299
+ </body>
300
+ </body>
301
+ </body>
302
+ <body name="R_Thumb1" pos="-0.0386 -0.0211 0.0259">
303
+ <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"/>
304
+ <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"/>
305
+ <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"/>
306
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0034 0.0002 0.0050 -0.0136 0.0008 0.0200" size="0.012" name="R_Thumb1" material="default_material"/>
307
+ <body name="R_Thumb2" pos="-0.017 0.001 0.025">
308
+ <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"/>
309
+ <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"/>
310
+ <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"/>
311
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0041 -0.0010 0.0031 -0.0164 -0.0041 0.0124" size="0.0095" name="R_Thumb2" material="default_material"/>
312
+ <body name="R_Thumb3" pos="-0.0205 -0.0052 0.0155">
313
+ <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"/>
314
+ <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"/>
315
+ <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"/>
316
+ <geom type="capsule" contype="1" conaffinity="1" density="1000" fromto="-0.0037 -0.0006 0.0035 -0.0148 -0.0025 0.0140" size="0.009" name="R_Thumb3" material="default_material"/>
317
+ </body>
318
+ </body>
319
+ </body>
320
+ </body>
321
+ </body>
322
+ </body>
323
+ </body>
324
+ </body>
325
+ </body>
326
+ </body>
327
+ </body>
328
+ </worldbody>
329
+ <actuator>
330
+ <motor name="L_Hip_x" joint="L_Hip_x" gear="500"/>
331
+ <motor name="L_Hip_y" joint="L_Hip_y" gear="500"/>
332
+ <motor name="L_Hip_z" joint="L_Hip_z" gear="500"/>
333
+ <motor name="L_Knee_x" joint="L_Knee_x" gear="500"/>
334
+ <motor name="L_Knee_y" joint="L_Knee_y" gear="500"/>
335
+ <motor name="L_Knee_z" joint="L_Knee_z" gear="500"/>
336
+ <motor name="L_Ankle_x" joint="L_Ankle_x" gear="500"/>
337
+ <motor name="L_Ankle_y" joint="L_Ankle_y" gear="500"/>
338
+ <motor name="L_Ankle_z" joint="L_Ankle_z" gear="500"/>
339
+ <motor name="L_Toe_x" joint="L_Toe_x" gear="500"/>
340
+ <motor name="L_Toe_y" joint="L_Toe_y" gear="500"/>
341
+ <motor name="L_Toe_z" joint="L_Toe_z" gear="500"/>
342
+ <motor name="R_Hip_x" joint="R_Hip_x" gear="500"/>
343
+ <motor name="R_Hip_y" joint="R_Hip_y" gear="500"/>
344
+ <motor name="R_Hip_z" joint="R_Hip_z" gear="500"/>
345
+ <motor name="R_Knee_x" joint="R_Knee_x" gear="500"/>
346
+ <motor name="R_Knee_y" joint="R_Knee_y" gear="500"/>
347
+ <motor name="R_Knee_z" joint="R_Knee_z" gear="500"/>
348
+ <motor name="R_Ankle_x" joint="R_Ankle_x" gear="500"/>
349
+ <motor name="R_Ankle_y" joint="R_Ankle_y" gear="500"/>
350
+ <motor name="R_Ankle_z" joint="R_Ankle_z" gear="500"/>
351
+ <motor name="R_Toe_x" joint="R_Toe_x" gear="500"/>
352
+ <motor name="R_Toe_y" joint="R_Toe_y" gear="500"/>
353
+ <motor name="R_Toe_z" joint="R_Toe_z" gear="500"/>
354
+ <motor name="Torso_x" joint="Torso_x" gear="500"/>
355
+ <motor name="Torso_y" joint="Torso_y" gear="500"/>
356
+ <motor name="Torso_z" joint="Torso_z" gear="500"/>
357
+ <motor name="Spine_x" joint="Spine_x" gear="500"/>
358
+ <motor name="Spine_y" joint="Spine_y" gear="500"/>
359
+ <motor name="Spine_z" joint="Spine_z" gear="500"/>
360
+ <motor name="Chest_x" joint="Chest_x" gear="500"/>
361
+ <motor name="Chest_y" joint="Chest_y" gear="500"/>
362
+ <motor name="Chest_z" joint="Chest_z" gear="500"/>
363
+ <motor name="Neck_x" joint="Neck_x" gear="500"/>
364
+ <motor name="Neck_y" joint="Neck_y" gear="500"/>
365
+ <motor name="Neck_z" joint="Neck_z" gear="500"/>
366
+ <motor name="Head_x" joint="Head_x" gear="500"/>
367
+ <motor name="Head_y" joint="Head_y" gear="500"/>
368
+ <motor name="Head_z" joint="Head_z" gear="500"/>
369
+ <motor name="L_Thorax_x" joint="L_Thorax_x" gear="500"/>
370
+ <motor name="L_Thorax_y" joint="L_Thorax_y" gear="500"/>
371
+ <motor name="L_Thorax_z" joint="L_Thorax_z" gear="500"/>
372
+ <motor name="L_Shoulder_x" joint="L_Shoulder_x" gear="500"/>
373
+ <motor name="L_Shoulder_y" joint="L_Shoulder_y" gear="500"/>
374
+ <motor name="L_Shoulder_z" joint="L_Shoulder_z" gear="500"/>
375
+ <motor name="L_Elbow_x" joint="L_Elbow_x" gear="500"/>
376
+ <motor name="L_Elbow_y" joint="L_Elbow_y" gear="500"/>
377
+ <motor name="L_Elbow_z" joint="L_Elbow_z" gear="500"/>
378
+ <motor name="L_Wrist_x" joint="L_Wrist_x" gear="500"/>
379
+ <motor name="L_Wrist_y" joint="L_Wrist_y" gear="500"/>
380
+ <motor name="L_Wrist_z" joint="L_Wrist_z" gear="500"/>
381
+ <motor name="L_Index1_x" joint="L_Index1_x" gear="500"/>
382
+ <motor name="L_Index1_y" joint="L_Index1_y" gear="500"/>
383
+ <motor name="L_Index1_z" joint="L_Index1_z" gear="500"/>
384
+ <motor name="L_Index2_x" joint="L_Index2_x" gear="500"/>
385
+ <motor name="L_Index2_y" joint="L_Index2_y" gear="500"/>
386
+ <motor name="L_Index2_z" joint="L_Index2_z" gear="500"/>
387
+ <motor name="L_Index3_x" joint="L_Index3_x" gear="500"/>
388
+ <motor name="L_Index3_y" joint="L_Index3_y" gear="500"/>
389
+ <motor name="L_Index3_z" joint="L_Index3_z" gear="500"/>
390
+ <motor name="L_Middle1_x" joint="L_Middle1_x" gear="500"/>
391
+ <motor name="L_Middle1_y" joint="L_Middle1_y" gear="500"/>
392
+ <motor name="L_Middle1_z" joint="L_Middle1_z" gear="500"/>
393
+ <motor name="L_Middle2_x" joint="L_Middle2_x" gear="500"/>
394
+ <motor name="L_Middle2_y" joint="L_Middle2_y" gear="500"/>
395
+ <motor name="L_Middle2_z" joint="L_Middle2_z" gear="500"/>
396
+ <motor name="L_Middle3_x" joint="L_Middle3_x" gear="500"/>
397
+ <motor name="L_Middle3_y" joint="L_Middle3_y" gear="500"/>
398
+ <motor name="L_Middle3_z" joint="L_Middle3_z" gear="500"/>
399
+ <motor name="L_Pinky1_x" joint="L_Pinky1_x" gear="500"/>
400
+ <motor name="L_Pinky1_y" joint="L_Pinky1_y" gear="500"/>
401
+ <motor name="L_Pinky1_z" joint="L_Pinky1_z" gear="500"/>
402
+ <motor name="L_Pinky2_x" joint="L_Pinky2_x" gear="500"/>
403
+ <motor name="L_Pinky2_y" joint="L_Pinky2_y" gear="500"/>
404
+ <motor name="L_Pinky2_z" joint="L_Pinky2_z" gear="500"/>
405
+ <motor name="L_Pinky3_x" joint="L_Pinky3_x" gear="500"/>
406
+ <motor name="L_Pinky3_y" joint="L_Pinky3_y" gear="500"/>
407
+ <motor name="L_Pinky3_z" joint="L_Pinky3_z" gear="500"/>
408
+ <motor name="L_Ring1_x" joint="L_Ring1_x" gear="500"/>
409
+ <motor name="L_Ring1_y" joint="L_Ring1_y" gear="500"/>
410
+ <motor name="L_Ring1_z" joint="L_Ring1_z" gear="500"/>
411
+ <motor name="L_Ring2_x" joint="L_Ring2_x" gear="500"/>
412
+ <motor name="L_Ring2_y" joint="L_Ring2_y" gear="500"/>
413
+ <motor name="L_Ring2_z" joint="L_Ring2_z" gear="500"/>
414
+ <motor name="L_Ring3_x" joint="L_Ring3_x" gear="500"/>
415
+ <motor name="L_Ring3_y" joint="L_Ring3_y" gear="500"/>
416
+ <motor name="L_Ring3_z" joint="L_Ring3_z" gear="500"/>
417
+ <motor name="L_Thumb1_x" joint="L_Thumb1_x" gear="500"/>
418
+ <motor name="L_Thumb1_y" joint="L_Thumb1_y" gear="500"/>
419
+ <motor name="L_Thumb1_z" joint="L_Thumb1_z" gear="500"/>
420
+ <motor name="L_Thumb2_x" joint="L_Thumb2_x" gear="500"/>
421
+ <motor name="L_Thumb2_y" joint="L_Thumb2_y" gear="500"/>
422
+ <motor name="L_Thumb2_z" joint="L_Thumb2_z" gear="500"/>
423
+ <motor name="L_Thumb3_x" joint="L_Thumb3_x" gear="500"/>
424
+ <motor name="L_Thumb3_y" joint="L_Thumb3_y" gear="500"/>
425
+ <motor name="L_Thumb3_z" joint="L_Thumb3_z" gear="500"/>
426
+ <motor name="R_Thorax_x" joint="R_Thorax_x" gear="500"/>
427
+ <motor name="R_Thorax_y" joint="R_Thorax_y" gear="500"/>
428
+ <motor name="R_Thorax_z" joint="R_Thorax_z" gear="500"/>
429
+ <motor name="R_Shoulder_x" joint="R_Shoulder_x" gear="500"/>
430
+ <motor name="R_Shoulder_y" joint="R_Shoulder_y" gear="500"/>
431
+ <motor name="R_Shoulder_z" joint="R_Shoulder_z" gear="500"/>
432
+ <motor name="R_Elbow_x" joint="R_Elbow_x" gear="500"/>
433
+ <motor name="R_Elbow_y" joint="R_Elbow_y" gear="500"/>
434
+ <motor name="R_Elbow_z" joint="R_Elbow_z" gear="500"/>
435
+ <motor name="R_Wrist_x" joint="R_Wrist_x" gear="500"/>
436
+ <motor name="R_Wrist_y" joint="R_Wrist_y" gear="500"/>
437
+ <motor name="R_Wrist_z" joint="R_Wrist_z" gear="500"/>
438
+ <motor name="R_Index1_x" joint="R_Index1_x" gear="500"/>
439
+ <motor name="R_Index1_y" joint="R_Index1_y" gear="500"/>
440
+ <motor name="R_Index1_z" joint="R_Index1_z" gear="500"/>
441
+ <motor name="R_Index2_x" joint="R_Index2_x" gear="500"/>
442
+ <motor name="R_Index2_y" joint="R_Index2_y" gear="500"/>
443
+ <motor name="R_Index2_z" joint="R_Index2_z" gear="500"/>
444
+ <motor name="R_Index3_x" joint="R_Index3_x" gear="500"/>
445
+ <motor name="R_Index3_y" joint="R_Index3_y" gear="500"/>
446
+ <motor name="R_Index3_z" joint="R_Index3_z" gear="500"/>
447
+ <motor name="R_Middle1_x" joint="R_Middle1_x" gear="500"/>
448
+ <motor name="R_Middle1_y" joint="R_Middle1_y" gear="500"/>
449
+ <motor name="R_Middle1_z" joint="R_Middle1_z" gear="500"/>
450
+ <motor name="R_Middle2_x" joint="R_Middle2_x" gear="500"/>
451
+ <motor name="R_Middle2_y" joint="R_Middle2_y" gear="500"/>
452
+ <motor name="R_Middle2_z" joint="R_Middle2_z" gear="500"/>
453
+ <motor name="R_Middle3_x" joint="R_Middle3_x" gear="500"/>
454
+ <motor name="R_Middle3_y" joint="R_Middle3_y" gear="500"/>
455
+ <motor name="R_Middle3_z" joint="R_Middle3_z" gear="500"/>
456
+ <motor name="R_Pinky1_x" joint="R_Pinky1_x" gear="500"/>
457
+ <motor name="R_Pinky1_y" joint="R_Pinky1_y" gear="500"/>
458
+ <motor name="R_Pinky1_z" joint="R_Pinky1_z" gear="500"/>
459
+ <motor name="R_Pinky2_x" joint="R_Pinky2_x" gear="500"/>
460
+ <motor name="R_Pinky2_y" joint="R_Pinky2_y" gear="500"/>
461
+ <motor name="R_Pinky2_z" joint="R_Pinky2_z" gear="500"/>
462
+ <motor name="R_Pinky3_x" joint="R_Pinky3_x" gear="500"/>
463
+ <motor name="R_Pinky3_y" joint="R_Pinky3_y" gear="500"/>
464
+ <motor name="R_Pinky3_z" joint="R_Pinky3_z" gear="500"/>
465
+ <motor name="R_Ring1_x" joint="R_Ring1_x" gear="500"/>
466
+ <motor name="R_Ring1_y" joint="R_Ring1_y" gear="500"/>
467
+ <motor name="R_Ring1_z" joint="R_Ring1_z" gear="500"/>
468
+ <motor name="R_Ring2_x" joint="R_Ring2_x" gear="500"/>
469
+ <motor name="R_Ring2_y" joint="R_Ring2_y" gear="500"/>
470
+ <motor name="R_Ring2_z" joint="R_Ring2_z" gear="500"/>
471
+ <motor name="R_Ring3_x" joint="R_Ring3_x" gear="500"/>
472
+ <motor name="R_Ring3_y" joint="R_Ring3_y" gear="500"/>
473
+ <motor name="R_Ring3_z" joint="R_Ring3_z" gear="500"/>
474
+ <motor name="R_Thumb1_x" joint="R_Thumb1_x" gear="500"/>
475
+ <motor name="R_Thumb1_y" joint="R_Thumb1_y" gear="500"/>
476
+ <motor name="R_Thumb1_z" joint="R_Thumb1_z" gear="500"/>
477
+ <motor name="R_Thumb2_x" joint="R_Thumb2_x" gear="500"/>
478
+ <motor name="R_Thumb2_y" joint="R_Thumb2_y" gear="500"/>
479
+ <motor name="R_Thumb2_z" joint="R_Thumb2_z" gear="500"/>
480
+ <motor name="R_Thumb3_x" joint="R_Thumb3_x" gear="500"/>
481
+ <motor name="R_Thumb3_y" joint="R_Thumb3_y" gear="500"/>
482
+ <motor name="R_Thumb3_z" joint="R_Thumb3_z" gear="500"/>
483
+ </actuator>
484
+ <contact>
485
+ <exclude body1="Torso" body2="Chest"/>
486
+ <exclude body1="Head" body2="Chest"/>
487
+ <exclude body1="R_Knee" body2="R_Toe"/>
488
+ <exclude body1="R_Knee" body2="L_Ankle"/>
489
+ <exclude body1="R_Knee" body2="L_Toe"/>
490
+ <exclude body1="L_Knee" body2="L_Toe"/>
491
+ <exclude body1="L_Knee" body2="R_Ankle"/>
492
+ <exclude body1="L_Knee" body2="R_Toe"/>
493
+ <exclude body1="L_Shoulder" body2="Chest"/>
494
+ <exclude body1="R_Shoulder" body2="Chest"/>
495
+ </contact>
496
+ <sensor/>
497
+ <size njmax="700" nconmax="700"/>
498
+ </mujoco>