Experimental planned references planned-v2026.09.05 (part 4)

experimental/planned-reference/planned-v2026.09.05/web/audits/db0460_dutch/result.ab4148b023021ed507fe500357d898989bf612d09214ce82112a2aa99d50a597.json

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experimental/planned-reference/planned-v2026.09.05/web/audits/db0460_dutch/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json

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experimental/planned-reference/planned-v2026.09.05/web/audits/db0461_swing_single/clip.d3feb9f05a6e795a640f7ec6bd49756effb84629bbaebc6803ac8cba989865bd.json

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kinematic proposal; constrained IK and independent acceptance still required.","body_guidance_filter":{"type":"Gaussian","sigma_seconds":0.2,"scope":"Soft body and resting-arm targets before IK; foot contacts and native poses unchanged."}},"solver_summary":{"failed_frames":0,"geometrically_infeasible_frames":0,"error_counts":{},"runtime_s":6.562581417005276},"limitations":["Kinematic candidate: independent acceptance and visual review pending.","Native door poses are time-warped; source forces and dynamics are not replayed on this clock.","Original approximate adult rig; no articulated fingers, actuator limits or contact-force certification."]}

experimental/planned-reference/planned-v2026.09.05/web/audits/db0461_swing_single/result.2618f1d83f845e5d4c1b47e513901f87b5a858f6d1df8764141468a0a6199a09.json

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experimental/planned-reference/planned-v2026.09.05/web/audits/db0461_swing_single/validation.42aa2fd4170f652f24049b37fc8bb7d1b7dbed2351e2492d45d11b1d7052f211.json

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+{
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experimental/planned-reference/planned-v2026.09.05/web/audits/db0462_swing_single/result.f6aa470735db345988a801acfdadfbd7b5f2d33c4b614ea11426cf1db5130083.json

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+      "frame": 550,
+      "limit": 1.0001,
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+        "dof": "actor_elbow_r",
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+      "frame": 1834,
+      "limit": 1.0001,
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+    "fk_actor_body_pos": {
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+      "frame": 0,
+      "limit": 1e-05,
+      "measured": 0.0
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+    "fk_actor_body_quat": {
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+      "frame": 0,
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+    "fk_body_pos": {
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+    "fk_body_quat": {
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+      "frame": 0,
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+      "measured": 0.0
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+    "fk_foot_quat": {
+      "context": null,
+      "frame": 1588,
+      "limit": 0.0001,
+      "measured": 1.1542389828584842e-07
+    },
+    "foot_target_orientation_error_rad": {
+      "context": 0,
+      "frame": 281,
+      "limit": 0.008726646259971648,
+      "measured": 7.884953353001448e-08
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+    "foot_target_position_error_m": {
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+      "limit": 0.001,
+      "measured": 2.5097030578083586e-15
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+    "hand_contact_penetration_m": {
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+      "context": 1,
+      "frame": 1647,
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+    "interpolated_stance_orientation_drift_rad": {
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+    "interpolated_stance_position_drift_m": {
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+    "stance_orientation_drift_rad": {
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+    "stance_sole_height_error_m": {
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+      "measured": 3.16780074394174e-11
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+}

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experimental/planned-reference/planned-v2026.09.05/web/audits/db0471_sliding_single/validation.4f79c107aea9da6b903e64be4a7ee8b329d771e903292f7f1c0981077cd85e66.json

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experimental/planned-reference/planned-v2026.09.05/web/audits/db0472_swing_single/result.5be135acd03b532c5aa0af7c66a986bd9076a6a36d980a73dcd7532311579ec7.json

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experimental/planned-reference/planned-v2026.09.05/web/audits/db0489_swing_single/clip.915cab77d54883b8d0775d251615668fd0a84a08549dbf7618d1a180b9474d2e.json

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+{"schema":"doorbench.planned-reference.v1","door_id":"db0489_swing_single","fps":60,"units":"metres/radians/seconds","up_axis":"Z","status":"unvalidated","qa":{},"duration":15.533752033663081,"frames":711,"complete_proposal":true,"sampling":"actor_time is authoritative; fps is the nominal rendering frame rate","retiming":{"success":true,"schema":"doorbench.retime.v1","frames":711,"iterations":4,"original_duration_s":11.833333333333334,"duration_s":15.533752033663081,"duration_scale":1.3127114394644857,"maximum_interval_scale":3.1147642683202705,"changed_intervals":306,"maximum_neighbor_scale_ratio":1.1500000000000008,"neighbor_ratio_limit":1.15,"interval_scale_cap":20.0,"before":{"max_velocity_ratio":1.0000000000000013,"max_acceleration_ratio":9.663065532811336,"velocity_violations":0,"acceleration_violations":180,"worst_velocity":{"frame":34,"dof":"actor_knee_l","ratio":1.0000000000000013},"worst_acceleration":{"frame":119,"dof":"actor_knee_l","ratio":9.663065532811336}},"after":{"max_velocity_ratio":1.0000000000000533,"max_acceleration_ratio":0.9960119680800549,"velocity_violations":0,"acceleration_violations":0,"worst_velocity":{"frame":355,"dof":"actor_elbow_r","ratio":1.0000000000000533},"worst_acceleration":{"frame":312,"dof":"actor_knee_l","ratio":0.9960119680800549}},"velocity_limits":[0.8,0.8,0.8,1.5,1.5,1.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5,2.5],"acceleration_limits":[3.0,3.0,3.0,8.0,8.0,8.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0,15.0],"dof_labels":["actor_root:x","actor_root:y","actor_root:z","actor_root:rx","actor_root:ry","actor_root:rz","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"failure":null,"scope":"Sampled actor velocity and world-basis angular acceleration; unchanged poses and source clock. Independent geometry/contact/interpolation revalidation required."},"trajectory_sha256":"3ac273522cd549c3700a4c68be6819ff930c64a47d851dff071d026fa9bee2b8","source_sha256":{"spec.json":"b661dd49ec80a0a601776aac268283cff5f96bb01c275dda695cebb3cd835692","model.json":"faf89ea2328444b521dca38df7a3c92c3198258e57dfcd4ac364d6b6c5abc307","door.xml":"3fb74b572fad8f3b703586f1dd09a787150903a55c621662dc27a61530217c11"},"native":{"body_names":["world","leaf","leaf_handle","leaf_latch_bolt","leaf_deadbolt"],"joint_names":["leaf_hinge","leaf_handle_hinge","leaf_latch_bolt_slide"],"qpos_addresses":[0,1,2]},"actor":{"body_names":["actor_pelvis","actor_chest","actor_neck","actor_head","actor_shoulder_l","actor_elbow_l","actor_wrist_l","actor_shoulder_r","actor_elbow_r","actor_wrist_r","actor_hip_l","actor_knee_l","actor_ankle_l","actor_hip_r","actor_knee_r","actor_ankle_r"],"joint_names":["actor_root","actor_spine_pitch","actor_spine_roll","actor_spine_yaw","actor_neck_yaw","actor_neck_pitch","actor_shoulder_l_pitch","actor_shoulder_l_roll","actor_shoulder_l_yaw","actor_elbow_l","actor_wrist_l_pitch","actor_wrist_l_roll","actor_wrist_l_yaw","actor_shoulder_r_pitch","actor_shoulder_r_roll","actor_shoulder_r_yaw","actor_elbow_r","actor_wrist_r_pitch","actor_wrist_r_roll","actor_wrist_r_yaw","actor_hip_l_pitch","actor_hip_l_roll","actor_hip_l_yaw","actor_knee_l","actor_ankle_l_pitch","actor_ankle_l_roll","actor_hip_r_pitch","actor_hip_r_roll","actor_hip_r_yaw","actor_knee_r","actor_ankle_r_pitch","actor_ankle_r_roll"],"qpos_addresses":[0,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37],"geometries":[{"name":"actor_geom_pelvis","body_name":"actor_pelvis","type":"capsule","size":[0.105,0.035,0.0],"pos":[0.0,0.0,0.005000000000000001],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_torso","body_name":"actor_chest","type":"capsule","size":[0.12,0.0825,0.0],"pos":[0.0,0.0,-0.1075],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_neck","body_name":"actor_neck","type":"capsule","size":[0.04,0.08,0.0],"pos":[0.0,0.0,-0.039999999999999994],"quat_wxyz":[6.123233995736766e-17,1.0,0.0,0.0]},{"name":"actor_geom_head","body_name":"actor_head","type":"sphere","size":[0.1,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_l","body_name":"actor_shoulder_l","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_l","body_name":"actor_elbow_l","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_l","body_name":"actor_wrist_l","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_upper_arm_r","body_name":"actor_shoulder_r","type":"capsule","size":[0.043,0.125,0.0],"pos":[0.0,0.0,-0.15000000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_forearm_r","body_name":"actor_elbow_r","type":"capsule","size":[0.036,0.12000000000000001,0.0],"pos":[0.0,0.0,-0.14],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_hand_r","body_name":"actor_wrist_r","type":"sphere","size":[0.035,0.0,0.0],"pos":[0.0,0.0,0.0],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_l","body_name":"actor_hip_l","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_l","body_name":"actor_knee_l","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_l","body_name":"actor_ankle_l","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_thigh_r","body_name":"actor_hip_r","type":"capsule","size":[0.065,0.17500000000000002,0.0],"pos":[0.0,0.0,-0.215],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_shin_r","body_name":"actor_knee_r","type":"capsule","size":[0.047,0.18,0.0],"pos":[0.0,0.0,-0.21500000000000002],"quat_wxyz":[1.0,0.0,0.0,0.0]},{"name":"actor_geom_foot_r","body_name":"actor_ankle_r","type":"box","size":[0.05,0.13,0.0275],"pos":[0.0,0.04,-0.0275],"quat_wxyz":[1.0,0.0,0.0,0.0]}],"mjcf_xml":"<mujoco model=\"doorbench_original_adult\"><compiler angle=\"radian\" autolimits=\"true\" /><worldbody><body name=\"actor_pelvis\" pos=\"0.151356901451 -1.5117447663 0.940521645285\" quat=\"0.999999997312 0 0 7.33160207516e-05\"><inertial pos=\"0 0 0\" mass=\"9.0\" diaginertia=\"0.108 0.108 0.108\" /><freejoint name=\"actor_root\" /><geom name=\"actor_geom_pelvis\" type=\"capsule\" size=\"0.105\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.03 0 0 0.04\" /><site name=\"actor_site_pelvis\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_chest\" pos=\"0 0 0.35\"><inertial pos=\"0 0 -0.12\" mass=\"20.0\" diaginertia=\"0.24 0.24 0.24\" /><joint name=\"actor_spine_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.4 0.4\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><joint name=\"actor_spine_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" pos=\"0 0 -.30\" /><geom name=\"actor_geom_torso\" type=\"capsule\" size=\"0.12\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.19 0 0 -0.025\" /><site name=\"actor_site_chest\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_neck\" pos=\"0 0 0.16\"><inertial pos=\"0 0 0\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_neck_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1 1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_neck_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.5 0.5\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_neck\" type=\"capsule\" size=\"0.04\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.12 0 0 0.04\" /><site name=\"actor_site_neck\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_head\" pos=\"0 0 0.13\"><inertial pos=\"0 0 0\" mass=\"4.5\" diaginertia=\"0.054 0.054 0.054\" /><geom name=\"actor_geom_head\" type=\"sphere\" size=\"0.1\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_head\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body><body name=\"actor_shoulder_l\" pos=\"-0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_l\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_l\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_l\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_l\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_l\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_l\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_shoulder_r\" pos=\"0.18 0 0.06\"><inertial pos=\"0 0 -0.15\" mass=\"2.0\" diaginertia=\"0.024 0.024 0.024\" /><joint name=\"actor_shoulder_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.2 2.7\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-2.3 2.3\" limited=\"true\" damping=\"1\" /><joint name=\"actor_shoulder_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.6 1.6\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_upper_arm_r\" type=\"capsule\" size=\"0.043\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.025 0 0 -0.275\" /><site name=\"actor_site_shoulder_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_elbow_r\" pos=\"0 0 -0.3\"><inertial pos=\"0 0 -0.14\" mass=\"1.2\" diaginertia=\"0.0144 0.0144 0.0144\" /><joint name=\"actor_elbow_r\" type=\"hinge\" axis=\"1 0 0\" range=\"0 2.65\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_forearm_r\" type=\"capsule\" size=\"0.036\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.02 0 0 -0.26\" /><site name=\"actor_site_elbow_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_wrist_r\" pos=\"0 0 -0.28\"><inertial pos=\"0 0 0\" mass=\"0.4\" diaginertia=\"0.0048 0.0048 0.0048\" /><joint name=\"actor_wrist_r_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-1.1 1.1\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_wrist_r_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-1.4 1.4\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_hand_r\" type=\"sphere\" size=\"0.035\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" /><site name=\"actor_site_wrist_r\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body></body><body name=\"actor_hip_l\" pos=\"-0.105 0 -0.06\"><inertial pos=\"0 0 -0.215\" mass=\"8.0\" diaginertia=\"0.096 0.096 0.096\" /><joint name=\"actor_hip_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.7 1.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.65 0.65\" limited=\"true\" damping=\"1\" /><joint name=\"actor_hip_l_yaw\" type=\"hinge\" axis=\"0 0 1\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_thigh_l\" type=\"capsule\" size=\"0.065\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.04 0 0 -0.39\" /><site name=\"actor_site_hip_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_knee_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0 -0.215\" mass=\"3.5\" diaginertia=\"0.042 0.042 0.042\" /><joint name=\"actor_knee_l\" type=\"hinge\" axis=\"1 0 0\" range=\"-2.7 0\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_shin_l\" type=\"capsule\" size=\"0.047\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" fromto=\"0 0 -0.035 0 0 -0.395\" /><site name=\"actor_site_knee_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><body name=\"actor_ankle_l\" pos=\"0 0 -0.43\"><inertial pos=\"0 0.04 -0.0275\" mass=\"1.0\" diaginertia=\"0.012 0.012 0.012\" /><joint name=\"actor_ankle_l_pitch\" type=\"hinge\" axis=\"1 0 0\" range=\"-0.8 0.8\" limited=\"true\" damping=\"1\" /><joint name=\"actor_ankle_l_roll\" type=\"hinge\" axis=\"0 1 0\" range=\"-0.45 0.45\" limited=\"true\" damping=\"1\" /><geom name=\"actor_geom_foot_l\" type=\"box\" size=\"0.05 0.13 0.0275\" rgba=\".08 .35 .42 1\" contype=\"1\" conaffinity=\"1\" pos=\"0 .04 -.0275\" /><site name=\"actor_site_ankle_l\" pos=\"0 0 0\" size=\".008\" rgba=\"1 .6 .1 1\" /><site name=\"actor_site_sole_l\" pos=\"0 0.04 -0.055\" size=\".008\" rgba=\"1 .6 .1 1\" /></body></body></body><body name=\"actor_hip_r\" 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