fighter / web /fighter.xml
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<mujoco model="martial_artist_m175">
<!-- Generated by build_humanoid.py. Average adult male: 1.75 m, 77 kg. Do not hand-edit. -->
<compiler angle="radian"/>
<option impratio="10" integrator="implicitfast" cone="elliptic"/>
<size memory="64M"/>
<visual>
<global azimuth="160" elevation="-15" offwidth="1600" offheight="1600"/>
<quality shadowsize="8192" offsamples="8"/>
<headlight ambient="0.35 0.35 0.35" diffuse="0.55 0.55 0.55" specular="0.1 0.1 0.1"/>
</visual>
<default>
<general ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<joint limited="true"/>
<geom type="capsule" group="1" friction="1 0.02 0.002" solref="0.012" solimp="0.9 0.97 0.002" material="skin"/>
<site group="4" rgba="0.2 0.8 0.2 0.3"/>
<default class="muscle">
<geom solref="0.02" solimp="0.7 0.97 0.04"/>
</default>
<default class="bone">
<geom solmix="10" solref="0.006" solimp="0.95 0.99 0.001"/>
</default>
<default class="grip">
<geom condim="4" friction="1.2 0.03" solref="0.01" solimp="0.3 0.95 0.006"/>
</default>
<default class="visual">
<geom contype="0" conaffinity="0" density="0"/>
</default>
<default class="eye">
<geom contype="0" conaffinity="0" density="0" material="eye"/>
</default>
</default>
</default>
<asset>
<texture type="2d" colorspace="auto" name="grid" builtin="checker" mark="edge" rgb1="0.22 0.24 0.28" rgb2="0.3 0.32 0.36" markrgb="0.4 0.42 0.46" width="512" height="512"/>
<texture type="skybox" colorspace="auto" name="sky" builtin="gradient" rgb1="0.75 0.8 0.88" rgb2="0.25 0.28 0.35" width="512" height="3072"/>
<material name="mat" texture="grid" texrepeat="4 4" texuniform="true" reflectance="0.05"/>
<material name="skin" specular="0.15" shininess="0.2" rgba="0.87 0.68 0.56 1"/>
<material name="eye" rgba="0.08 0.08 0.1 1"/>
</asset>
<worldbody>
<geom name="floor" size="0 0 0.05" type="plane" friction="1 0.02 0.002" solmix="100" solref="0.015 1.5" solimp="0.8 0.95 0.005" material="mat"/>
<light pos="1.5 -1.5 4" dir="-0.276172 0.276172 -0.920575" diffuse="0.6 0.6 0.6"/>
<light castshadow="false" pos="-2 2 3" dir="0.408248 -0.408248 -0.816497" diffuse="0.25 0.25 0.25"/>
<body name="pelvis" childclass="body" pos="0 0 0.959">
<joint name="root" type="free"/>
<geom name="pelvis" class="muscle" size="0.095 0.142 0.095" pos="-0.008 0 -0.005" type="ellipsoid" density="728.5"/>
<geom name="hip_side_L" class="muscle" size="0.065 0.045 0.075" pos="-0.01 0.12 -0.03" type="ellipsoid" density="728.5"/>
<geom name="hip_side_R" class="muscle" size="0.065 0.045 0.075" pos="-0.01 -0.12 -0.03" type="ellipsoid" density="728.5"/>
<geom name="glute_L" class="muscle" size="0.078 0.08 0.088" pos="-0.065 0.07 -0.02" type="ellipsoid" density="728.5"/>
<geom name="glute_R" class="muscle" size="0.078 0.08 0.088" pos="-0.065 -0.07 -0.02" type="ellipsoid" density="728.5"/>
<camera name="track" quat="0.514755 0.484796 0.484796 0.514755" pos="3.2 0 0.2" mode="trackcom"/>
<body name="abdomen" pos="-0.02 0 0.095">
<joint name="lumbar_flex" range="-0.523599 1.0472" armature="0.03" damping="2" axis="0 1 0"/>
<joint name="lumbar_bend" range="-0.436332 0.436332" armature="0.03" damping="2" axis="1 0 0"/>
<joint name="lumbar_rot" range="-0.349066 0.349066" armature="0.03" damping="2"/>
<geom name="abdomen" class="muscle" size="0.1 0.142 0.16" pos="0 0 0.08" type="ellipsoid" density="623.2"/>
<geom name="rectus_abd" class="muscle" size="0.036 0.078 0.165" pos="0.068 0 0.085" type="ellipsoid" density="623.2"/>
<geom name="lower_abd" class="muscle" size="0.1 0.128 0.078" pos="0.008 0 -0.03" type="ellipsoid" density="623.2"/>
<geom name="oblique_L" class="muscle" size="0.065 0.038 0.12" pos="0 0.108 0.035" type="ellipsoid" density="623.2"/>
<geom name="oblique_R" class="muscle" size="0.065 0.038 0.12" pos="0 -0.108 0.035" type="ellipsoid" density="623.2"/>
<geom name="erector_L" class="muscle" size="0.035 0.05 0.14" pos="-0.068 0.045 0.09" type="ellipsoid" density="623.2"/>
<geom name="erector_R" class="muscle" size="0.035 0.05 0.14" pos="-0.068 -0.045 0.09" type="ellipsoid" density="623.2"/>
<geom name="abs_0L" class="visual" size="0.0045 0.029 0.026" pos="0.1 0.034 0.175" type="ellipsoid"/>
<geom name="abs_0R" class="visual" size="0.0045 0.029 0.026" pos="0.1 -0.034 0.175" type="ellipsoid"/>
<geom name="abs_1L" class="visual" size="0.0045 0.029 0.026" pos="0.1 0.034 0.113" type="ellipsoid"/>
<geom name="abs_1R" class="visual" size="0.0045 0.029 0.026" pos="0.1 -0.034 0.113" type="ellipsoid"/>
<geom name="abs_2L" class="visual" size="0.0045 0.029 0.026" pos="0.1 0.034 0.051" type="ellipsoid"/>
<geom name="abs_2R" class="visual" size="0.0045 0.029 0.026" pos="0.1 -0.034 0.051" type="ellipsoid"/>
<body name="thorax" pos="-0.01 0 0.21">
<joint name="thorax_flex" range="-0.436332 0.610865" armature="0.03" damping="2" axis="0 1 0"/>
<joint name="thorax_bend" range="-0.436332 0.436332" armature="0.03" damping="2" axis="1 0 0"/>
<joint name="thorax_rot" range="-0.610865 0.610865" armature="0.03" damping="2"/>
<geom name="ribcage" class="bone" size="0.105 0.13 0.15" pos="0.005 0 0.1" type="ellipsoid" density="593.4"/>
<geom name="pec_L" class="muscle" size="0.045 0.078 0.058" pos="0.078 0.062 0.15" type="ellipsoid" density="593.4"/>
<geom name="pec_R" class="muscle" size="0.045 0.078 0.058" pos="0.078 -0.062 0.15" type="ellipsoid" density="593.4"/>
<geom name="lat_L" class="muscle" size="0.075 0.045 0.135" pos="-0.03 0.118 0.09" type="ellipsoid" density="593.4"/>
<geom name="lat_R" class="muscle" size="0.075 0.045 0.135" pos="-0.03 -0.118 0.09" type="ellipsoid" density="593.4"/>
<geom name="upper_back" class="muscle" size="0.065 0.135 0.1" pos="-0.045 0 0.16" type="ellipsoid" density="593.4"/>
<geom name="upper_chest" class="muscle" size="0.055 0.125 0.05" pos="0.035 0 0.205" type="ellipsoid" density="593.4"/>
<geom name="serratus_L" class="visual" size="0.05 0.03 0.06" pos="0.045 0.11 0.07" type="ellipsoid"/>
<geom name="serratus_R" class="visual" size="0.05 0.03 0.06" pos="0.045 -0.11 0.07" type="ellipsoid"/>
<body name="neck" pos="-0.025 0 0.255">
<joint name="neck_flex" range="-0.698132 0.872665" armature="0.01" damping="0.5" axis="0 1 0"/>
<joint name="neck_bend" range="-0.610865 0.610865" armature="0.01" damping="0.5" axis="1 0 0"/>
<joint name="neck_rot" range="-1.309 1.309" armature="0.01" damping="0.5"/>
<geom name="neck" class="muscle" size="0.064 0.0429214" pos="0.006 0 0.0425" quat="0.0700673 0 -0.997542 0" density="848"/>
<body name="head" pos="0.012 0 0.09">
<joint name="head_nod" range="-0.610865 0.523599" armature="0.01" damping="0.5" axis="0 1 0"/>
<joint name="head_tilt" range="-0.436332 0.436332" armature="0.01" damping="0.5" axis="1 0 0"/>
<geom name="cranium" class="bone" size="0.1 0.078 0.108" pos="0.01 0 0.04" type="ellipsoid" density="848"/>
<geom name="jaw" class="bone" size="0.055 0.055 0.045" pos="0.05 0 -0.03" type="ellipsoid" density="848"/>
<geom name="nose" class="visual" size="0.01 0.0134629" pos="0.105 0 0.0195" quat="0.981956 0 -0.189108 0"/>
<geom name="eye_L" class="eye" size="0.012" pos="0.093 0.032 0.045" type="sphere"/>
<geom name="eye_R" class="eye" size="0.012" pos="0.093 -0.032 0.045" type="sphere"/>
<geom name="ear_L" class="visual" size="0.012 0.008 0.025" pos="0.005 0.078 0.035" type="ellipsoid"/>
<geom name="ear_R" class="visual" size="0.012 0.008 0.025" pos="0.005 -0.078 0.035" type="ellipsoid"/>
</body>
</body>
<body name="clavicle_L" pos="0.035 0.025 0.215">
<joint name="clavicle_L_elev" range="-0.174533 0.523599" armature="0.02" damping="1" axis="1 0 0"/>
<joint name="clavicle_L_prot" range="-0.261799 0.436332" armature="0.02" damping="1" axis="0 0 -1"/>
<geom name="clavicle_L" class="bone" size="0.013 0.0597265" pos="-0.015 0.0675 -0.006" quat="0.741774 0.648932 0.169287 0" density="593.4"/>
<geom name="trapezius_L" class="muscle" size="0.048 0.08 0.042" pos="-0.055 0.06 0.025" quat="0.970296 -0.241922 0 0" type="ellipsoid" density="593.4"/>
<body name="upper_arm_L" pos="-0.035 0.16 -0.05" quat="0.997564 0.0697565 0 0">
<joint name="shoulder_L_flex" range="-1.0472 3.14159" armature="0.02" damping="1" axis="0 -1 0"/>
<joint name="shoulder_L_abd" range="-0.698132 2.96706" armature="0.02" damping="1" axis="1 0 0"/>
<joint name="shoulder_L_rot" range="-1.5708 1.22173" armature="0.01" damping="0.5" axis="0 0 -1"/>
<geom name="upper_arm_L" class="bone" size="0.037 0.095" pos="0 0 -0.155" density="648.8"/>
<geom name="biceps_L" class="muscle" size="0.036 0.034 0.085" pos="0.02 -0.002 -0.15" type="ellipsoid" density="648.8"/>
<geom name="triceps_L" class="muscle" size="0.036 0.038 0.095" pos="-0.02 0.002 -0.135" type="ellipsoid" density="648.8"/>
<geom name="deltoid_L" class="muscle" size="0.058 0.054 0.092" pos="0 0.008 -0.04" type="ellipsoid" density="648.8"/>
<body name="forearm_L" pos="0 0 -0.29">
<joint name="elbow_L" range="0 2.61799" armature="0.01" damping="0.5" axis="0 -1 0"/>
<joint name="forearm_L_pro" range="-1.48353 1.48353" armature="0.005" damping="0.2" axis="0 0 -1"/>
<geom name="forearm_L_core" class="bone" size="0.036 0.0525" pos="0 0 -0.0775" density="660.2"/>
<geom name="forearm_L_flexors" class="muscle" size="0.049 0.051 0.085" pos="0.004 -0.004 -0.075" type="ellipsoid" density="660.2"/>
<geom name="forearm_L_dist" class="bone" size="0.037 0.027 0.09" pos="0 0 -0.172" type="ellipsoid" density="660.2"/>
<body name="hand_L" pos="0 0 -0.262">
<joint name="wrist_L_flex" range="-1.22173 1.39626" armature="0.002" damping="0.1" axis="-1 0 0"/>
<joint name="wrist_L_dev" range="-0.610865 0.349066" armature="0.002" damping="0.1" axis="0 -1 0"/>
<geom name="palm_L" class="grip" size="0.018 0.0334589" pos="0.0195 -0.0005 -0.055" quat="0.996565 -0.0074976 -0.0824736 0" density="760.8"/>
<geom name="palm2_L" class="grip" size="0.018 0.0345579" pos="0.006 0.001 -0.0565" quat="0.999581 0 -0.0289491 0" density="760.8"/>
<geom name="palm3_L" class="grip" size="0.0175 0.0330379" pos="-0.0085 0.0005 -0.055" quat="0.999713 -0.00756925 0.0227077 0" density="760.8"/>
<geom name="palm4_L" class="grip" size="0.0165 0.0299374" pos="-0.022 -0.001 -0.0515" quat="0.99634 -0.0167628 0.0838142 0" density="760.8"/>
<geom name="hypothenar_L" class="grip" size="0.012 0.0275045" pos="-0.0305 -0.008 -0.0475" quat="0.999959 0 0.00908978 0" density="760.8"/>
<geom name="palm_heel_L" class="grip" size="0.012 0.02" pos="-0.002 -0.006 -0.012" quat="0.707107 0 0.707107 0" density="760.8"/>
<site name="palm_L" size="0.03 0.0075 0.03" pos="0 -0.016 -0.055" type="box"/>
<body name="thumb_L1" pos="0.03 -0.01 -0.018">
<joint name="thumb_L_cmc_flex" range="-0.349066 0.872665" armature="0.0008" damping="0.03" axis="-0.55273 0.715939 -0.426523"/>
<joint name="thumb_L_cmc_abd" range="-0.261799 0.872665" armature="0.0008" damping="0.03" axis="0.78445 0.619739 0.0237015"/>
<geom name="thumb_L1" class="grip" size="0.015 0.0229995" pos="0.00647 -0.007395 -0.020795" quat="0.975743 -0.164761 -0.144152 0" density="760.8"/>
<body name="thumb_L2" pos="0.01294 -0.01479 -0.04159">
<joint name="thumb_L_mcp" range="-0.174533 1.0472" armature="0.0006" damping="0.02" axis="-0.55273 0.715939 -0.426523"/>
<geom name="thumb_L2" class="grip" size="0.0118 0.0159989" pos="0.004501 -0.005145 -0.014465" quat="0.975736 -0.16479 -0.144163 0" density="760.8"/>
<body name="thumb_L3" pos="0.009002 -0.01029 -0.02893">
<joint name="thumb_L_ip" range="-0.261799 1.39626" armature="0.0005" damping="0.02" axis="-0.55273 0.715939 -0.426523"/>
<geom name="thumb_L3" class="grip" size="0.0105 0.00849957" pos="0.002391 -0.0027325 -0.007685" quat="0.975747 -0.164739 -0.14415 0" density="760.8"/>
<site name="thumb_L_tip" size="0.01" pos="0.004782 -0.009465 -0.01537"/>
</body>
</body>
</body>
<body name="index_L1" pos="0.029 -0.002 -0.094">
<joint name="index_L_mcp" range="-0.436332 1.5708" armature="0.0008" damping="0.03" axis="-1 0 0"/>
<joint name="index_L_spread" range="-0.331613 0.191986" armature="0.0008" damping="0.03" axis="0 1 0"/>
<geom name="index_L1" class="grip" size="0.0108 0.0205" pos="0 0 -0.0205" density="760.8"/>
<body name="index_L2" pos="0 0 -0.041">
<joint name="index_L_pip" range="0 1.91986" armature="0.0005" damping="0.02" axis="-1 0 0"/>
<geom name="index_L2" class="grip" size="0.0097 0.0125" pos="0 0 -0.0125" density="760.8"/>
<body name="index_L3" pos="0 0 -0.025">
<joint name="index_L_dip" range="-0.0872665 1.39626" armature="0.0005" damping="0.02" axis="-1 0 0"/>
<geom name="index_L3" class="grip" size="0.0087 0.00615" pos="0 0 -0.00615" density="760.8"/>
<site name="index_L_tip" size="0.009135" pos="0 -0.00522 -0.0123"/>
</body>
</body>
</body>
<body name="middle_L1" pos="0.009 -0.002 -0.097">
<joint name="middle_L_mcp" range="-0.436332 1.5708" armature="0.0008" damping="0.03" axis="-1 0 0"/>
<joint name="middle_L_spread" range="-0.261799 0.261799" armature="0.0008" damping="0.03" axis="0 1 0"/>
<geom name="middle_L1" class="grip" size="0.011 0.0225" pos="0 0 -0.0225" density="760.8"/>
<body name="middle_L2" pos="0 0 -0.045">
<joint name="middle_L_pip" range="0 1.91986" armature="0.0005" damping="0.02" axis="-1 0 0"/>
<geom name="middle_L2" class="grip" size="0.0099 0.0145" pos="0 0 -0.0145" density="760.8"/>
<body name="middle_L3" pos="0 0 -0.029">
<joint name="middle_L_dip" range="-0.0872665 1.39626" armature="0.0005" damping="0.02" axis="-1 0 0"/>
<geom name="middle_L3" class="grip" size="0.009 0.0065" pos="0 0 -0.0065" density="760.8"/>
<site name="middle_L_tip" size="0.00945" pos="0 -0.0054 -0.013"/>
</body>
</body>
</body>
<body name="ring_L1" pos="-0.011 -0.002 -0.093">
<joint name="ring_L_mcp" range="-0.436332 1.5708" armature="0.0008" damping="0.03" axis="-1 0 0"/>
<joint name="ring_L_spread" range="-0.20944 0.314159" armature="0.0008" damping="0.03" axis="0 1 0"/>
<geom name="ring_L1" class="grip" size="0.0104 0.021" pos="0 0 -0.021" density="760.8"/>
<body name="ring_L2" pos="0 0 -0.042">
<joint name="ring_L_pip" range="0 1.91986" armature="0.0005" damping="0.02" axis="-1 0 0"/>
<geom name="ring_L2" class="grip" size="0.0094 0.0135" pos="0 0 -0.0135" density="760.8"/>
<body name="ring_L3" pos="0 0 -0.027">
<joint name="ring_L_dip" range="-0.0872665 1.39626" armature="0.0005" damping="0.02" axis="-1 0 0"/>
<geom name="ring_L3" class="grip" size="0.0085 0.00675" pos="0 0 -0.00675" density="760.8"/>
<site name="ring_L_tip" size="0.008925" pos="0 -0.0051 -0.0135"/>
</body>
</body>
</body>
<body name="little_L1" pos="-0.03 -0.002 -0.086">
<joint name="little_L_mcp" range="-0.436332 1.5708" armature="0.0008" damping="0.03" axis="-1 0 0"/>
<joint name="little_L_spread" range="-0.139626 0.383972" armature="0.0008" damping="0.03" axis="0 1 0"/>
<geom name="little_L1" class="grip" size="0.0094 0.0165" pos="0 0 -0.0165" density="760.8"/>
<body name="little_L2" pos="0 0 -0.033">
<joint name="little_L_pip" range="0 1.91986" armature="0.0005" damping="0.02" axis="-1 0 0"/>
<geom name="little_L2" class="grip" size="0.0084 0.01" pos="0 0 -0.01" density="760.8"/>
<body name="little_L3" pos="0 0 -0.02">
<joint name="little_L_dip" range="-0.0872665 1.39626" armature="0.0005" damping="0.02" axis="-1 0 0"/>
<geom name="little_L3" class="grip" size="0.0076 0.0057" pos="0 0 -0.0057" density="760.8"/>
<site name="little_L_tip" size="0.00798" pos="0 -0.00456 -0.0114"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="clavicle_R" pos="0.035 -0.025 0.215">
<joint name="clavicle_R_elev" range="-0.174533 0.523599" armature="0.02" damping="1" axis="-1 0 0"/>
<joint name="clavicle_R_prot" range="-0.261799 0.436332" armature="0.02" damping="1"/>
<geom name="clavicle_R" class="bone" size="0.013 0.0597265" pos="-0.015 -0.0675 -0.006" quat="0.741774 -0.648932 0.169287 0" density="593.4"/>
<geom name="trapezius_R" class="muscle" size="0.048 0.08 0.042" pos="-0.055 -0.06 0.025" quat="0.970296 0.241922 0 0" type="ellipsoid" density="593.4"/>
<body name="upper_arm_R" pos="-0.035 -0.16 -0.05" quat="0.997564 -0.0697565 0 0">
<joint name="shoulder_R_flex" range="-1.0472 3.14159" armature="0.02" damping="1" axis="0 -1 0"/>
<joint name="shoulder_R_abd" range="-0.698132 2.96706" armature="0.02" damping="1" axis="-1 0 0"/>
<joint name="shoulder_R_rot" range="-1.5708 1.22173" armature="0.01" damping="0.5"/>
<geom name="upper_arm_R" class="bone" size="0.037 0.095" pos="0 0 -0.155" density="648.8"/>
<geom name="biceps_R" class="muscle" size="0.036 0.034 0.085" pos="0.02 0.002 -0.15" type="ellipsoid" density="648.8"/>
<geom name="triceps_R" class="muscle" size="0.036 0.038 0.095" pos="-0.02 -0.002 -0.135" type="ellipsoid" density="648.8"/>
<geom name="deltoid_R" class="muscle" size="0.058 0.054 0.092" pos="0 -0.008 -0.04" type="ellipsoid" density="648.8"/>
<body name="forearm_R" pos="0 0 -0.29">
<joint name="elbow_R" range="0 2.61799" armature="0.01" damping="0.5" axis="0 -1 0"/>
<joint name="forearm_R_pro" range="-1.48353 1.48353" armature="0.005" damping="0.2"/>
<geom name="forearm_R_core" class="bone" size="0.036 0.0525" pos="0 0 -0.0775" density="660.2"/>
<geom name="forearm_R_flexors" class="muscle" size="0.049 0.051 0.085" pos="0.004 0.004 -0.075" type="ellipsoid" density="660.2"/>
<geom name="forearm_R_dist" class="bone" size="0.037 0.027 0.09" pos="0 0 -0.172" type="ellipsoid" density="660.2"/>
<body name="hand_R" pos="0 0 -0.262">
<joint name="wrist_R_flex" range="-1.22173 1.39626" armature="0.002" damping="0.1" axis="1 0 0"/>
<joint name="wrist_R_dev" range="-0.610865 0.349066" armature="0.002" damping="0.1" axis="0 -1 0"/>
<geom name="palm_R" class="grip" size="0.018 0.0334589" pos="0.0195 0.0005 -0.055" quat="0.996565 0.0074976 -0.0824736 0" density="760.8"/>
<geom name="palm2_R" class="grip" size="0.018 0.0345579" pos="0.006 -0.001 -0.0565" quat="0.999581 0 -0.0289491 0" density="760.8"/>
<geom name="palm3_R" class="grip" size="0.0175 0.0330379" pos="-0.0085 -0.0005 -0.055" quat="0.999713 0.00756925 0.0227077 0" density="760.8"/>
<geom name="palm4_R" class="grip" size="0.0165 0.0299374" pos="-0.022 0.001 -0.0515" quat="0.99634 0.0167628 0.0838142 0" density="760.8"/>
<geom name="hypothenar_R" class="grip" size="0.012 0.0275045" pos="-0.0305 0.008 -0.0475" quat="0.999959 0 0.00908978 0" density="760.8"/>
<geom name="palm_heel_R" class="grip" size="0.012 0.02" pos="-0.002 0.006 -0.012" quat="0.707107 0 0.707107 0" density="760.8"/>
<site name="palm_R" size="0.03 0.0075 0.03" pos="0 0.016 -0.055" type="box"/>
<body name="thumb_R1" pos="0.03 0.01 -0.018">
<joint name="thumb_R_cmc_flex" range="-0.349066 0.872665" armature="0.0008" damping="0.03" axis="0.55273 0.715939 0.426523"/>
<joint name="thumb_R_cmc_abd" range="-0.261799 0.872665" armature="0.0008" damping="0.03" axis="-0.78445 0.619739 -0.0237015"/>
<geom name="thumb_R1" class="grip" size="0.015 0.0229995" pos="0.00647 0.007395 -0.020795" quat="0.975743 0.164761 -0.144152 0" density="760.8"/>
<body name="thumb_R2" pos="0.01294 0.01479 -0.04159">
<joint name="thumb_R_mcp" range="-0.174533 1.0472" armature="0.0006" damping="0.02" axis="0.55273 0.715939 0.426523"/>
<geom name="thumb_R2" class="grip" size="0.0118 0.0159989" pos="0.004501 0.005145 -0.014465" quat="0.975736 0.16479 -0.144163 0" density="760.8"/>
<body name="thumb_R3" pos="0.009002 0.01029 -0.02893">
<joint name="thumb_R_ip" range="-0.261799 1.39626" armature="0.0005" damping="0.02" axis="0.55273 0.715939 0.426523"/>
<geom name="thumb_R3" class="grip" size="0.0105 0.00849957" pos="0.002391 0.0027325 -0.007685" quat="0.975747 0.164739 -0.14415 0" density="760.8"/>
<site name="thumb_R_tip" size="0.01" pos="0.004782 0.009465 -0.01537"/>
</body>
</body>
</body>
<body name="index_R1" pos="0.029 0.002 -0.094">
<joint name="index_R_mcp" range="-0.436332 1.5708" armature="0.0008" damping="0.03" axis="1 0 0"/>
<joint name="index_R_spread" range="-0.331613 0.191986" armature="0.0008" damping="0.03" axis="0 1 0"/>
<geom name="index_R1" class="grip" size="0.0108 0.0205" pos="0 0 -0.0205" density="760.8"/>
<body name="index_R2" pos="0 0 -0.041">
<joint name="index_R_pip" range="0 1.91986" armature="0.0005" damping="0.02" axis="1 0 0"/>
<geom name="index_R2" class="grip" size="0.0097 0.0125" pos="0 0 -0.0125" density="760.8"/>
<body name="index_R3" pos="0 0 -0.025">
<joint name="index_R_dip" range="-0.0872665 1.39626" armature="0.0005" damping="0.02" axis="1 0 0"/>
<geom name="index_R3" class="grip" size="0.0087 0.00615" pos="0 0 -0.00615" density="760.8"/>
<site name="index_R_tip" size="0.009135" pos="0 0.00522 -0.0123"/>
</body>
</body>
</body>
<body name="middle_R1" pos="0.009 0.002 -0.097">
<joint name="middle_R_mcp" range="-0.436332 1.5708" armature="0.0008" damping="0.03" axis="1 0 0"/>
<joint name="middle_R_spread" range="-0.261799 0.261799" armature="0.0008" damping="0.03" axis="0 1 0"/>
<geom name="middle_R1" class="grip" size="0.011 0.0225" pos="0 0 -0.0225" density="760.8"/>
<body name="middle_R2" pos="0 0 -0.045">
<joint name="middle_R_pip" range="0 1.91986" armature="0.0005" damping="0.02" axis="1 0 0"/>
<geom name="middle_R2" class="grip" size="0.0099 0.0145" pos="0 0 -0.0145" density="760.8"/>
<body name="middle_R3" pos="0 0 -0.029">
<joint name="middle_R_dip" range="-0.0872665 1.39626" armature="0.0005" damping="0.02" axis="1 0 0"/>
<geom name="middle_R3" class="grip" size="0.009 0.0065" pos="0 0 -0.0065" density="760.8"/>
<site name="middle_R_tip" size="0.00945" pos="0 0.0054 -0.013"/>
</body>
</body>
</body>
<body name="ring_R1" pos="-0.011 0.002 -0.093">
<joint name="ring_R_mcp" range="-0.436332 1.5708" armature="0.0008" damping="0.03" axis="1 0 0"/>
<joint name="ring_R_spread" range="-0.20944 0.314159" armature="0.0008" damping="0.03" axis="0 1 0"/>
<geom name="ring_R1" class="grip" size="0.0104 0.021" pos="0 0 -0.021" density="760.8"/>
<body name="ring_R2" pos="0 0 -0.042">
<joint name="ring_R_pip" range="0 1.91986" armature="0.0005" damping="0.02" axis="1 0 0"/>
<geom name="ring_R2" class="grip" size="0.0094 0.0135" pos="0 0 -0.0135" density="760.8"/>
<body name="ring_R3" pos="0 0 -0.027">
<joint name="ring_R_dip" range="-0.0872665 1.39626" armature="0.0005" damping="0.02" axis="1 0 0"/>
<geom name="ring_R3" class="grip" size="0.0085 0.00675" pos="0 0 -0.00675" density="760.8"/>
<site name="ring_R_tip" size="0.008925" pos="0 0.0051 -0.0135"/>
</body>
</body>
</body>
<body name="little_R1" pos="-0.03 0.002 -0.086">
<joint name="little_R_mcp" range="-0.436332 1.5708" armature="0.0008" damping="0.03" axis="1 0 0"/>
<joint name="little_R_spread" range="-0.139626 0.383972" armature="0.0008" damping="0.03" axis="0 1 0"/>
<geom name="little_R1" class="grip" size="0.0094 0.0165" pos="0 0 -0.0165" density="760.8"/>
<body name="little_R2" pos="0 0 -0.033">
<joint name="little_R_pip" range="0 1.91986" armature="0.0005" damping="0.02" axis="1 0 0"/>
<geom name="little_R2" class="grip" size="0.0084 0.01" pos="0 0 -0.01" density="760.8"/>
<body name="little_R3" pos="0 0 -0.02">
<joint name="little_R_dip" range="-0.0872665 1.39626" armature="0.0005" damping="0.02" axis="1 0 0"/>
<geom name="little_R3" class="grip" size="0.0076 0.0057" pos="0 0 -0.0057" density="760.8"/>
<site name="little_R_tip" size="0.00798" pos="0 0.00456 -0.0114"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="thigh_L" pos="0 0.095 -0.035">
<joint name="hip_L_flex" range="-0.523599 2.18166" armature="0.03" damping="1.5" axis="0 -1 0"/>
<joint name="hip_L_abd" range="-0.523599 1.0472" armature="0.03" damping="1.5" axis="1 0 0"/>
<joint name="hip_L_rot" range="-0.785398 0.959931" armature="0.02" damping="1" axis="0 0 -1"/>
<geom name="thigh_L_core" class="bone" size="0.074 0.160162" pos="-0.002 0.008 -0.21" quat="0.999746 -0.0124905 -0.0187357 0" density="609.7"/>
<geom name="quads_L" class="muscle" size="0.078 0.084 0.19" pos="0.03 0.014 -0.185" type="ellipsoid" density="609.7"/>
<geom name="hamstrings_L" class="muscle" size="0.07 0.072 0.165" pos="-0.035 0.008 -0.17" type="ellipsoid" density="609.7"/>
<geom name="vmo_L" class="muscle" size="0.045 0.04 0.07" pos="0.02 -0.03 -0.32" type="ellipsoid" density="609.7"/>
<geom name="adductors_L" class="muscle" size="0.06 0.048 0.12" pos="0 -0.018 -0.115" type="ellipsoid" density="609.7"/>
<body name="shank_L" pos="0 0 -0.425">
<joint name="knee_L" range="-0.0349066 2.61799" armature="0.02" damping="1" axis="0 1 0"/>
<geom name="shin_L" class="bone" size="0.042 0.175" pos="0 0 -0.205" density="603.9"/>
<geom name="tib_ant_L" class="muscle" size="0.03 0.03 0.11" pos="0.02 0.018 -0.13" type="ellipsoid" density="603.9"/>
<geom name="knee_L" class="bone" size="0.05 0.052 0.048" pos="0.006 0 -0.012" type="ellipsoid" density="603.9"/>
<geom name="gastroc_L" class="muscle" size="0.05 0.04 0.1" pos="-0.03 0.022 -0.12" type="ellipsoid" density="603.9"/>
<geom name="gastroc_med_L" class="muscle" size="0.052 0.042 0.105" pos="-0.028 -0.02 -0.135" type="ellipsoid" density="603.9"/>
<geom name="soleus_L" class="muscle" size="0.038 0.042 0.08" pos="-0.02 0 -0.23" type="ellipsoid" density="603.9"/>
<body name="foot_L" pos="0 0 -0.425">
<joint name="ankle_L_flex" range="-0.436332 0.872665" armature="0.01" damping="0.5" axis="0 1 0"/>
<joint name="ankle_L_inv" range="-0.349066 0.610865" armature="0.01" damping="0.5" axis="-1 0 0"/>
<geom name="heel_L" class="bone" size="0.036" pos="-0.04 0.004 -0.038" type="sphere" density="868.6"/>
<geom name="foot_medial_L" class="bone" size="0.022 0.087865" pos="0.0575 -0.018 -0.052" quat="0.707107 -0.0643812 -0.70417 0" density="868.6"/>
<geom name="foot_lateral_L" class="bone" size="0.019 0.0780208" pos="0.0475 0.027 -0.055" quat="0.707107 0.0815675 -0.702386 0" density="868.6"/>
<geom name="foot_dorsum_L" class="bone" size="0.08 0.04 0.03" pos="0.045 0.004 -0.034" type="ellipsoid" density="868.6"/>
<site name="sole_L" size="0.088 0.04 0.006" pos="0.05 0.004 -0.07" type="box"/>
<body name="toes_L" pos="0.148 -0.003 -0.052">
<joint name="toes_L" range="-1.0472 0.610865" armature="0.003" damping="0.1" axis="0 1 0"/>
<geom name="hallux_L" class="bone" size="0.016 0.0226108" pos="0.0225 -0.028 -0.005" quat="0.722574 -0.061207 -0.688579 0" density="868.6"/>
<geom name="toes_L" class="bone" size="0.0145 0.0250799" pos="0.02 0.017 -0.006" quat="0.707107 0.648466 0.281942 0" density="868.6"/>
</body>
</body>
</body>
</body>
<body name="thigh_R" pos="0 -0.095 -0.035">
<joint name="hip_R_flex" range="-0.523599 2.18166" armature="0.03" damping="1.5" axis="0 -1 0"/>
<joint name="hip_R_abd" range="-0.523599 1.0472" armature="0.03" damping="1.5" axis="-1 0 0"/>
<joint name="hip_R_rot" range="-0.785398 0.959931" armature="0.02" damping="1"/>
<geom name="thigh_R_core" class="bone" size="0.074 0.160162" pos="-0.002 -0.008 -0.21" quat="0.999746 0.0124905 -0.0187357 0" density="609.7"/>
<geom name="quads_R" class="muscle" size="0.078 0.084 0.19" pos="0.03 -0.014 -0.185" type="ellipsoid" density="609.7"/>
<geom name="hamstrings_R" class="muscle" size="0.07 0.072 0.165" pos="-0.035 -0.008 -0.17" type="ellipsoid" density="609.7"/>
<geom name="vmo_R" class="muscle" size="0.045 0.04 0.07" pos="0.02 0.03 -0.32" type="ellipsoid" density="609.7"/>
<geom name="adductors_R" class="muscle" size="0.06 0.048 0.12" pos="0 0.018 -0.115" type="ellipsoid" density="609.7"/>
<body name="shank_R" pos="0 0 -0.425">
<joint name="knee_R" range="-0.0349066 2.61799" armature="0.02" damping="1" axis="0 1 0"/>
<geom name="shin_R" class="bone" size="0.042 0.175" pos="0 0 -0.205" density="603.9"/>
<geom name="tib_ant_R" class="muscle" size="0.03 0.03 0.11" pos="0.02 -0.018 -0.13" type="ellipsoid" density="603.9"/>
<geom name="knee_R" class="bone" size="0.05 0.052 0.048" pos="0.006 0 -0.012" type="ellipsoid" density="603.9"/>
<geom name="gastroc_R" class="muscle" size="0.05 0.04 0.1" pos="-0.03 -0.022 -0.12" type="ellipsoid" density="603.9"/>
<geom name="gastroc_med_R" class="muscle" size="0.052 0.042 0.105" pos="-0.028 0.02 -0.135" type="ellipsoid" density="603.9"/>
<geom name="soleus_R" class="muscle" size="0.038 0.042 0.08" pos="-0.02 0 -0.23" type="ellipsoid" density="603.9"/>
<body name="foot_R" pos="0 0 -0.425">
<joint name="ankle_R_flex" range="-0.436332 0.872665" armature="0.01" damping="0.5" axis="0 1 0"/>
<joint name="ankle_R_inv" range="-0.349066 0.610865" armature="0.01" damping="0.5" axis="1 0 0"/>
<geom name="heel_R" class="bone" size="0.036" pos="-0.04 -0.004 -0.038" type="sphere" density="868.6"/>
<geom name="foot_medial_R" class="bone" size="0.022 0.087865" pos="0.0575 0.018 -0.052" quat="0.707107 0.0643812 -0.70417 0" density="868.6"/>
<geom name="foot_lateral_R" class="bone" size="0.019 0.0780208" pos="0.0475 -0.027 -0.055" quat="0.707107 -0.0815675 -0.702386 0" density="868.6"/>
<geom name="foot_dorsum_R" class="bone" size="0.08 0.04 0.03" pos="0.045 -0.004 -0.034" type="ellipsoid" density="868.6"/>
<site name="sole_R" size="0.088 0.04 0.006" pos="0.05 -0.004 -0.07" type="box"/>
<body name="toes_R" pos="0.148 0.003 -0.052">
<joint name="toes_R" range="-1.0472 0.610865" armature="0.003" damping="0.1" axis="0 1 0"/>
<geom name="hallux_R" class="bone" size="0.016 0.0226108" pos="0.0225 0.028 -0.005" quat="0.722574 0.061207 -0.688579 0" density="868.6"/>
<geom name="toes_R" class="bone" size="0.0145 0.0250799" pos="0.02 -0.017 -0.006" quat="0.707107 -0.648466 0.281942 0" density="868.6"/>
</body>
</body>
</body>
</body>
</body>
<body name="pad_anchor" pos="0 0 9" mocap="true">
<body name="pad" gravcomp="1">
<joint name="pad_x" type="slide" stiffness="300" range="-0.3 0.3" damping="20" axis="1 0 0" limited="true"/>
<joint name="pad_y" type="slide" stiffness="300" range="-0.3 0.3" damping="20" axis="0 1 0" limited="true"/>
<joint name="pad_z" type="slide" stiffness="300" range="-0.3 0.3" damping="20" limited="true"/>
<geom name="pad" size="0.03 0.1 0.12" type="box" contype="2" solimp="0.9 0.95 0.01" rgba="0.75 0.12 0.1 1" mass="1"/>
</body>
</body>
<body name="bag_anchor" pos="3 0 9" mocap="true">
<body name="bag">
<joint name="bag_swing" type="ball" damping="2"/>
<geom name="bag" size="0.17 0.55" pos="0 0 -1.15" type="cylinder" contype="2" solimp="0.9 0.95 0.01" rgba="0.15 0.15 0.17 1" mass="35"/>
<geom name="bag_rope" size="0.008 0.3" pos="0 0 -0.3" type="capsule" contype="0" conaffinity="0" rgba="0.6 0.6 0.6 1" mass="0"/>
</body>
</body>
<body name="ball_anchor" pos="6 0 9" mocap="true">
<site name="ball_hook" size="0.01"/>
</body>
<body name="ball" pos="6 0 8.25">
<joint name="ball_free" type="free"/>
<geom name="ball" size="0.25" contype="2" solimp="0.9 0.95 0.01" rgba="0.15 0.15 0.17 1" mass="25"/>
<site name="ball_top" size="0.01" pos="0 0 0.25"/>
</body>
<body name="cube_floor">
<geom name="cube_floor" size="0 0 1" type="plane" contype="2" conaffinity="2"/>
</body>
<body name="cube" pos="50 0 40">
<joint name="cube_free" type="free"/>
<geom name="cube" size="0.06 0.06 0.06" type="box" contype="3" conaffinity="3" solimp="0.9 0.95 0.01" rgba="0.333 0.243 0.647 1" mass="4"/>
</body>
</worldbody>
<contact>
<exclude body1="pelvis" body2="thorax"/>
<exclude body1="abdomen" body2="neck"/>
<exclude body1="thorax" body2="head"/>
<exclude body1="thorax" body2="upper_arm_L"/>
<exclude body1="neck" body2="clavicle_L"/>
<exclude body1="head" body2="clavicle_L"/>
<exclude body1="abdomen" body2="thigh_L"/>
<exclude body1="upper_arm_L" body2="hand_L"/>
<exclude body1="thigh_L" body2="foot_L"/>
<exclude body1="forearm_L" body2="thumb_L2"/>
<exclude body1="forearm_L" body2="index_L1"/>
<exclude body1="forearm_L" body2="index_L2"/>
<exclude body1="forearm_L" body2="index_L3"/>
<exclude body1="forearm_L" body2="middle_L1"/>
<exclude body1="forearm_L" body2="middle_L2"/>
<exclude body1="forearm_L" body2="middle_L3"/>
<exclude body1="forearm_L" body2="ring_L1"/>
<exclude body1="forearm_L" body2="ring_L2"/>
<exclude body1="forearm_L" body2="ring_L3"/>
<exclude body1="forearm_L" body2="little_L1"/>
<exclude body1="forearm_L" body2="little_L2"/>
<exclude body1="forearm_L" body2="little_L3"/>
<exclude body1="forearm_L" body2="thumb_L1"/>
<exclude body1="forearm_L" body2="thumb_L2"/>
<exclude body1="forearm_L" body2="thumb_L3"/>
<exclude body1="thorax" body2="upper_arm_R"/>
<exclude body1="neck" body2="clavicle_R"/>
<exclude body1="head" body2="clavicle_R"/>
<exclude body1="abdomen" body2="thigh_R"/>
<exclude body1="upper_arm_R" body2="hand_R"/>
<exclude body1="thigh_R" body2="foot_R"/>
<exclude body1="forearm_R" body2="thumb_R2"/>
<exclude body1="forearm_R" body2="index_R1"/>
<exclude body1="forearm_R" body2="index_R2"/>
<exclude body1="forearm_R" body2="index_R3"/>
<exclude body1="forearm_R" body2="middle_R1"/>
<exclude body1="forearm_R" body2="middle_R2"/>
<exclude body1="forearm_R" body2="middle_R3"/>
<exclude body1="forearm_R" body2="ring_R1"/>
<exclude body1="forearm_R" body2="ring_R2"/>
<exclude body1="forearm_R" body2="ring_R3"/>
<exclude body1="forearm_R" body2="little_R1"/>
<exclude body1="forearm_R" body2="little_R2"/>
<exclude body1="forearm_R" body2="little_R3"/>
<exclude body1="forearm_R" body2="thumb_R1"/>
<exclude body1="forearm_R" body2="thumb_R2"/>
<exclude body1="forearm_R" body2="thumb_R3"/>
<exclude body1="index_L1" body2="middle_L1"/>
<exclude body1="index_L1" body2="middle_L2"/>
<exclude body1="index_L1" body2="middle_L3"/>
<exclude body1="index_L2" body2="middle_L1"/>
<exclude body1="index_L2" body2="middle_L2"/>
<exclude body1="index_L2" body2="middle_L3"/>
<exclude body1="index_L3" body2="middle_L1"/>
<exclude body1="index_L3" body2="middle_L2"/>
<exclude body1="index_L3" body2="middle_L3"/>
<exclude body1="middle_L1" body2="ring_L1"/>
<exclude body1="middle_L1" body2="ring_L2"/>
<exclude body1="middle_L1" body2="ring_L3"/>
<exclude body1="middle_L2" body2="ring_L1"/>
<exclude body1="middle_L2" body2="ring_L2"/>
<exclude body1="middle_L2" body2="ring_L3"/>
<exclude body1="middle_L3" body2="ring_L1"/>
<exclude body1="middle_L3" body2="ring_L2"/>
<exclude body1="middle_L3" body2="ring_L3"/>
<exclude body1="ring_L1" body2="little_L1"/>
<exclude body1="ring_L1" body2="little_L2"/>
<exclude body1="ring_L1" body2="little_L3"/>
<exclude body1="ring_L2" body2="little_L1"/>
<exclude body1="ring_L2" body2="little_L2"/>
<exclude body1="ring_L2" body2="little_L3"/>
<exclude body1="ring_L3" body2="little_L1"/>
<exclude body1="ring_L3" body2="little_L2"/>
<exclude body1="ring_L3" body2="little_L3"/>
<exclude body1="index_R1" body2="middle_R1"/>
<exclude body1="index_R1" body2="middle_R2"/>
<exclude body1="index_R1" body2="middle_R3"/>
<exclude body1="index_R2" body2="middle_R1"/>
<exclude body1="index_R2" body2="middle_R2"/>
<exclude body1="index_R2" body2="middle_R3"/>
<exclude body1="index_R3" body2="middle_R1"/>
<exclude body1="index_R3" body2="middle_R2"/>
<exclude body1="index_R3" body2="middle_R3"/>
<exclude body1="middle_R1" body2="ring_R1"/>
<exclude body1="middle_R1" body2="ring_R2"/>
<exclude body1="middle_R1" body2="ring_R3"/>
<exclude body1="middle_R2" body2="ring_R1"/>
<exclude body1="middle_R2" body2="ring_R2"/>
<exclude body1="middle_R2" body2="ring_R3"/>
<exclude body1="middle_R3" body2="ring_R1"/>
<exclude body1="middle_R3" body2="ring_R2"/>
<exclude body1="middle_R3" body2="ring_R3"/>
<exclude body1="ring_R1" body2="little_R1"/>
<exclude body1="ring_R1" body2="little_R2"/>
<exclude body1="ring_R1" body2="little_R3"/>
<exclude body1="ring_R2" body2="little_R1"/>
<exclude body1="ring_R2" body2="little_R2"/>
<exclude body1="ring_R2" body2="little_R3"/>
<exclude body1="ring_R3" body2="little_R1"/>
<exclude body1="ring_R3" body2="little_R2"/>
<exclude body1="ring_R3" body2="little_R3"/>
<exclude body1="hand_L" body2="thumb_L1"/>
<exclude body1="hand_L" body2="thumb_L2"/>
<exclude body1="hand_L" body2="thumb_L3"/>
<exclude body1="hand_L" body2="index_L1"/>
<exclude body1="hand_L" body2="index_L2"/>
<exclude body1="hand_L" body2="index_L3"/>
<exclude body1="hand_L" body2="middle_L1"/>
<exclude body1="hand_L" body2="middle_L2"/>
<exclude body1="hand_L" body2="middle_L3"/>
<exclude body1="hand_L" body2="ring_L1"/>
<exclude body1="hand_L" body2="ring_L2"/>
<exclude body1="hand_L" body2="ring_L3"/>
<exclude body1="hand_L" body2="little_L1"/>
<exclude body1="hand_L" body2="little_L2"/>
<exclude body1="hand_L" body2="little_L3"/>
<exclude body1="thumb_L1" body2="thumb_L2"/>
<exclude body1="thumb_L1" body2="thumb_L3"/>
<exclude body1="thumb_L1" body2="index_L1"/>
<exclude body1="thumb_L1" body2="index_L2"/>
<exclude body1="thumb_L1" body2="index_L3"/>
<exclude body1="thumb_L1" body2="middle_L1"/>
<exclude body1="thumb_L1" body2="middle_L2"/>
<exclude body1="thumb_L1" body2="middle_L3"/>
<exclude body1="thumb_L1" body2="ring_L1"/>
<exclude body1="thumb_L1" body2="ring_L2"/>
<exclude body1="thumb_L1" body2="ring_L3"/>
<exclude body1="thumb_L1" body2="little_L1"/>
<exclude body1="thumb_L1" body2="little_L2"/>
<exclude body1="thumb_L1" body2="little_L3"/>
<exclude body1="thumb_L2" body2="thumb_L3"/>
<exclude body1="thumb_L2" body2="index_L1"/>
<exclude body1="thumb_L2" body2="index_L2"/>
<exclude body1="thumb_L2" body2="index_L3"/>
<exclude body1="thumb_L2" body2="middle_L1"/>
<exclude body1="thumb_L2" body2="middle_L2"/>
<exclude body1="thumb_L2" body2="middle_L3"/>
<exclude body1="thumb_L2" body2="ring_L1"/>
<exclude body1="thumb_L2" body2="ring_L2"/>
<exclude body1="thumb_L2" body2="ring_L3"/>
<exclude body1="thumb_L2" body2="little_L1"/>
<exclude body1="thumb_L2" body2="little_L2"/>
<exclude body1="thumb_L2" body2="little_L3"/>
<exclude body1="thumb_L3" body2="index_L1"/>
<exclude body1="thumb_L3" body2="index_L2"/>
<exclude body1="thumb_L3" body2="index_L3"/>
<exclude body1="thumb_L3" body2="middle_L1"/>
<exclude body1="thumb_L3" body2="middle_L2"/>
<exclude body1="thumb_L3" body2="middle_L3"/>
<exclude body1="thumb_L3" body2="ring_L1"/>
<exclude body1="thumb_L3" body2="ring_L2"/>
<exclude body1="thumb_L3" body2="ring_L3"/>
<exclude body1="thumb_L3" body2="little_L1"/>
<exclude body1="thumb_L3" body2="little_L2"/>
<exclude body1="thumb_L3" body2="little_L3"/>
<exclude body1="index_L1" body2="index_L2"/>
<exclude body1="index_L1" body2="index_L3"/>
<exclude body1="index_L1" body2="ring_L1"/>
<exclude body1="index_L1" body2="ring_L2"/>
<exclude body1="index_L1" body2="ring_L3"/>
<exclude body1="index_L1" body2="little_L1"/>
<exclude body1="index_L1" body2="little_L2"/>
<exclude body1="index_L1" body2="little_L3"/>
<exclude body1="index_L2" body2="index_L3"/>
<exclude body1="index_L2" body2="ring_L1"/>
<exclude body1="index_L2" body2="ring_L2"/>
<exclude body1="index_L2" body2="ring_L3"/>
<exclude body1="index_L2" body2="little_L1"/>
<exclude body1="index_L2" body2="little_L2"/>
<exclude body1="index_L2" body2="little_L3"/>
<exclude body1="index_L3" body2="ring_L1"/>
<exclude body1="index_L3" body2="ring_L2"/>
<exclude body1="index_L3" body2="ring_L3"/>
<exclude body1="index_L3" body2="little_L1"/>
<exclude body1="index_L3" body2="little_L2"/>
<exclude body1="index_L3" body2="little_L3"/>
<exclude body1="middle_L1" body2="middle_L2"/>
<exclude body1="middle_L1" body2="middle_L3"/>
<exclude body1="middle_L1" body2="little_L1"/>
<exclude body1="middle_L1" body2="little_L2"/>
<exclude body1="middle_L1" body2="little_L3"/>
<exclude body1="middle_L2" body2="middle_L3"/>
<exclude body1="middle_L2" body2="little_L1"/>
<exclude body1="middle_L2" body2="little_L2"/>
<exclude body1="middle_L2" body2="little_L3"/>
<exclude body1="middle_L3" body2="little_L1"/>
<exclude body1="middle_L3" body2="little_L2"/>
<exclude body1="middle_L3" body2="little_L3"/>
<exclude body1="ring_L1" body2="ring_L2"/>
<exclude body1="ring_L1" body2="ring_L3"/>
<exclude body1="ring_L2" body2="ring_L3"/>
<exclude body1="little_L1" body2="little_L2"/>
<exclude body1="little_L1" body2="little_L3"/>
<exclude body1="little_L2" body2="little_L3"/>
<exclude body1="hand_R" body2="thumb_R1"/>
<exclude body1="hand_R" body2="thumb_R2"/>
<exclude body1="hand_R" body2="thumb_R3"/>
<exclude body1="hand_R" body2="index_R1"/>
<exclude body1="hand_R" body2="index_R2"/>
<exclude body1="hand_R" body2="index_R3"/>
<exclude body1="hand_R" body2="middle_R1"/>
<exclude body1="hand_R" body2="middle_R2"/>
<exclude body1="hand_R" body2="middle_R3"/>
<exclude body1="hand_R" body2="ring_R1"/>
<exclude body1="hand_R" body2="ring_R2"/>
<exclude body1="hand_R" body2="ring_R3"/>
<exclude body1="hand_R" body2="little_R1"/>
<exclude body1="hand_R" body2="little_R2"/>
<exclude body1="hand_R" body2="little_R3"/>
<exclude body1="thumb_R1" body2="thumb_R2"/>
<exclude body1="thumb_R1" body2="thumb_R3"/>
<exclude body1="thumb_R1" body2="index_R1"/>
<exclude body1="thumb_R1" body2="index_R2"/>
<exclude body1="thumb_R1" body2="index_R3"/>
<exclude body1="thumb_R1" body2="middle_R1"/>
<exclude body1="thumb_R1" body2="middle_R2"/>
<exclude body1="thumb_R1" body2="middle_R3"/>
<exclude body1="thumb_R1" body2="ring_R1"/>
<exclude body1="thumb_R1" body2="ring_R2"/>
<exclude body1="thumb_R1" body2="ring_R3"/>
<exclude body1="thumb_R1" body2="little_R1"/>
<exclude body1="thumb_R1" body2="little_R2"/>
<exclude body1="thumb_R1" body2="little_R3"/>
<exclude body1="thumb_R2" body2="thumb_R3"/>
<exclude body1="thumb_R2" body2="index_R1"/>
<exclude body1="thumb_R2" body2="index_R2"/>
<exclude body1="thumb_R2" body2="index_R3"/>
<exclude body1="thumb_R2" body2="middle_R1"/>
<exclude body1="thumb_R2" body2="middle_R2"/>
<exclude body1="thumb_R2" body2="middle_R3"/>
<exclude body1="thumb_R2" body2="ring_R1"/>
<exclude body1="thumb_R2" body2="ring_R2"/>
<exclude body1="thumb_R2" body2="ring_R3"/>
<exclude body1="thumb_R2" body2="little_R1"/>
<exclude body1="thumb_R2" body2="little_R2"/>
<exclude body1="thumb_R2" body2="little_R3"/>
<exclude body1="thumb_R3" body2="index_R1"/>
<exclude body1="thumb_R3" body2="index_R2"/>
<exclude body1="thumb_R3" body2="index_R3"/>
<exclude body1="thumb_R3" body2="middle_R1"/>
<exclude body1="thumb_R3" body2="middle_R2"/>
<exclude body1="thumb_R3" body2="middle_R3"/>
<exclude body1="thumb_R3" body2="ring_R1"/>
<exclude body1="thumb_R3" body2="ring_R2"/>
<exclude body1="thumb_R3" body2="ring_R3"/>
<exclude body1="thumb_R3" body2="little_R1"/>
<exclude body1="thumb_R3" body2="little_R2"/>
<exclude body1="thumb_R3" body2="little_R3"/>
<exclude body1="index_R1" body2="index_R2"/>
<exclude body1="index_R1" body2="index_R3"/>
<exclude body1="index_R1" body2="ring_R1"/>
<exclude body1="index_R1" body2="ring_R2"/>
<exclude body1="index_R1" body2="ring_R3"/>
<exclude body1="index_R1" body2="little_R1"/>
<exclude body1="index_R1" body2="little_R2"/>
<exclude body1="index_R1" body2="little_R3"/>
<exclude body1="index_R2" body2="index_R3"/>
<exclude body1="index_R2" body2="ring_R1"/>
<exclude body1="index_R2" body2="ring_R2"/>
<exclude body1="index_R2" body2="ring_R3"/>
<exclude body1="index_R2" body2="little_R1"/>
<exclude body1="index_R2" body2="little_R2"/>
<exclude body1="index_R2" body2="little_R3"/>
<exclude body1="index_R3" body2="ring_R1"/>
<exclude body1="index_R3" body2="ring_R2"/>
<exclude body1="index_R3" body2="ring_R3"/>
<exclude body1="index_R3" body2="little_R1"/>
<exclude body1="index_R3" body2="little_R2"/>
<exclude body1="index_R3" body2="little_R3"/>
<exclude body1="middle_R1" body2="middle_R2"/>
<exclude body1="middle_R1" body2="middle_R3"/>
<exclude body1="middle_R1" body2="little_R1"/>
<exclude body1="middle_R1" body2="little_R2"/>
<exclude body1="middle_R1" body2="little_R3"/>
<exclude body1="middle_R2" body2="middle_R3"/>
<exclude body1="middle_R2" body2="little_R1"/>
<exclude body1="middle_R2" body2="little_R2"/>
<exclude body1="middle_R2" body2="little_R3"/>
<exclude body1="middle_R3" body2="little_R1"/>
<exclude body1="middle_R3" body2="little_R2"/>
<exclude body1="middle_R3" body2="little_R3"/>
<exclude body1="ring_R1" body2="ring_R2"/>
<exclude body1="ring_R1" body2="ring_R3"/>
<exclude body1="ring_R2" body2="ring_R3"/>
<exclude body1="little_R1" body2="little_R2"/>
<exclude body1="little_R1" body2="little_R3"/>
<exclude body1="little_R2" body2="little_R3"/>
<exclude body1="world" body2="cube"/>
</contact>
<tendon>
<spatial name="ball_rope" limited="true" range="0 0.5" width="0.008" rgba="0.6 0.6 0.6 1">
<site site="ball_hook"/>
<site site="ball_top"/>
</spatial>
</tendon>
<actuator>
<general name="lumbar_flex" joint="lumbar_flex" ctrllimited="false" forcelimited="true" forcerange="-250 250" biastype="affine" gainprm="1500" biasprm="0 -1500 -100"/>
<general name="lumbar_bend" joint="lumbar_bend" ctrllimited="false" forcelimited="true" forcerange="-250 250" biastype="affine" gainprm="1500" biasprm="0 -1500 -100"/>
<general name="lumbar_rot" joint="lumbar_rot" ctrllimited="false" forcelimited="true" forcerange="-120 120" biastype="affine" gainprm="720" biasprm="0 -720 -48"/>
<general name="thorax_flex" joint="thorax_flex" ctrllimited="false" forcelimited="true" forcerange="-200 200" biastype="affine" gainprm="1200" biasprm="0 -1200 -80"/>
<general name="thorax_bend" joint="thorax_bend" ctrllimited="false" forcelimited="true" forcerange="-200 200" biastype="affine" gainprm="1200" biasprm="0 -1200 -80"/>
<general name="thorax_rot" joint="thorax_rot" ctrllimited="false" forcelimited="true" forcerange="-100 100" biastype="affine" gainprm="600" biasprm="0 -600 -40"/>
<general name="neck_flex" joint="neck_flex" ctrllimited="false" forcelimited="true" forcerange="-40 40" biastype="affine" gainprm="240" biasprm="0 -240 -16"/>
<general name="neck_bend" joint="neck_bend" ctrllimited="false" forcelimited="true" forcerange="-40 40" biastype="affine" gainprm="240" biasprm="0 -240 -16"/>
<general name="neck_rot" joint="neck_rot" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="150" biasprm="0 -150 -10"/>
<general name="head_nod" joint="head_nod" ctrllimited="false" forcelimited="true" forcerange="-30 30" biastype="affine" gainprm="180" biasprm="0 -180 -12"/>
<general name="head_tilt" joint="head_tilt" ctrllimited="false" forcelimited="true" forcerange="-25 25" biastype="affine" gainprm="150" biasprm="0 -150 -10"/>
<general name="clavicle_L_elev" joint="clavicle_L_elev" ctrllimited="false" forcelimited="true" forcerange="-80 80" biastype="affine" gainprm="480" biasprm="0 -480 -32"/>
<general name="clavicle_L_prot" joint="clavicle_L_prot" ctrllimited="false" forcelimited="true" forcerange="-80 80" biastype="affine" gainprm="480" biasprm="0 -480 -32"/>
<general name="shoulder_L_flex" joint="shoulder_L_flex" ctrllimited="false" forcelimited="true" forcerange="-110 110" biastype="affine" gainprm="660" biasprm="0 -660 -44"/>
<general name="shoulder_L_abd" joint="shoulder_L_abd" ctrllimited="false" forcelimited="true" forcerange="-110 110" biastype="affine" gainprm="660" biasprm="0 -660 -44"/>
<general name="shoulder_L_rot" joint="shoulder_L_rot" ctrllimited="false" forcelimited="true" forcerange="-60 60" biastype="affine" gainprm="360" biasprm="0 -360 -24"/>
<general name="elbow_L" joint="elbow_L" ctrllimited="false" forcelimited="true" forcerange="-90 90" biastype="affine" gainprm="540" biasprm="0 -540 -36"/>
<general name="forearm_L_pro" joint="forearm_L_pro" ctrllimited="false" forcelimited="true" forcerange="-15 15" biastype="affine" gainprm="90" biasprm="0 -90 -6"/>
<general name="wrist_L_flex" joint="wrist_L_flex" ctrllimited="false" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="120" biasprm="0 -120 -8"/>
<general name="wrist_L_dev" joint="wrist_L_dev" ctrllimited="false" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="120" biasprm="0 -120 -8"/>
<general name="thumb_L_cmc_flex" joint="thumb_L_cmc_flex" ctrllimited="false" forcelimited="true" forcerange="-8 8" biastype="affine" gainprm="48" biasprm="0 -48 -3.2"/>
<general name="thumb_L_cmc_abd" joint="thumb_L_cmc_abd" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="thumb_L_mcp" joint="thumb_L_mcp" ctrllimited="false" forcelimited="true" forcerange="-5 5" biastype="affine" gainprm="30" biasprm="0 -30 -2"/>
<general name="thumb_L_ip" joint="thumb_L_ip" ctrllimited="false" forcelimited="true" forcerange="-3 3" biastype="affine" gainprm="18" biasprm="0 -18 -1.2"/>
<general name="index_L_mcp" joint="index_L_mcp" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="index_L_spread" joint="index_L_spread" ctrllimited="false" forcelimited="true" forcerange="-1.5 1.5" biastype="affine" gainprm="9" biasprm="0 -9 -0.6"/>
<general name="index_L_pip" joint="index_L_pip" ctrllimited="false" forcelimited="true" forcerange="-3.5 3.5" biastype="affine" gainprm="21" biasprm="0 -21 -1.4"/>
<general name="index_L_dip" joint="index_L_dip" ctrllimited="false" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="12" biasprm="0 -12 -0.8"/>
<general name="middle_L_mcp" joint="middle_L_mcp" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="middle_L_spread" joint="middle_L_spread" ctrllimited="false" forcelimited="true" forcerange="-1.5 1.5" biastype="affine" gainprm="9" biasprm="0 -9 -0.6"/>
<general name="middle_L_pip" joint="middle_L_pip" ctrllimited="false" forcelimited="true" forcerange="-3.5 3.5" biastype="affine" gainprm="21" biasprm="0 -21 -1.4"/>
<general name="middle_L_dip" joint="middle_L_dip" ctrllimited="false" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="12" biasprm="0 -12 -0.8"/>
<general name="ring_L_mcp" joint="ring_L_mcp" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="ring_L_spread" joint="ring_L_spread" ctrllimited="false" forcelimited="true" forcerange="-1.5 1.5" biastype="affine" gainprm="9" biasprm="0 -9 -0.6"/>
<general name="ring_L_pip" joint="ring_L_pip" ctrllimited="false" forcelimited="true" forcerange="-3.5 3.5" biastype="affine" gainprm="21" biasprm="0 -21 -1.4"/>
<general name="ring_L_dip" joint="ring_L_dip" ctrllimited="false" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="12" biasprm="0 -12 -0.8"/>
<general name="little_L_mcp" joint="little_L_mcp" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="little_L_spread" joint="little_L_spread" ctrllimited="false" forcelimited="true" forcerange="-1.5 1.5" biastype="affine" gainprm="9" biasprm="0 -9 -0.6"/>
<general name="little_L_pip" joint="little_L_pip" ctrllimited="false" forcelimited="true" forcerange="-3.5 3.5" biastype="affine" gainprm="21" biasprm="0 -21 -1.4"/>
<general name="little_L_dip" joint="little_L_dip" ctrllimited="false" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="12" biasprm="0 -12 -0.8"/>
<general name="clavicle_R_elev" joint="clavicle_R_elev" ctrllimited="false" forcelimited="true" forcerange="-80 80" biastype="affine" gainprm="480" biasprm="0 -480 -32"/>
<general name="clavicle_R_prot" joint="clavicle_R_prot" ctrllimited="false" forcelimited="true" forcerange="-80 80" biastype="affine" gainprm="480" biasprm="0 -480 -32"/>
<general name="shoulder_R_flex" joint="shoulder_R_flex" ctrllimited="false" forcelimited="true" forcerange="-110 110" biastype="affine" gainprm="660" biasprm="0 -660 -44"/>
<general name="shoulder_R_abd" joint="shoulder_R_abd" ctrllimited="false" forcelimited="true" forcerange="-110 110" biastype="affine" gainprm="660" biasprm="0 -660 -44"/>
<general name="shoulder_R_rot" joint="shoulder_R_rot" ctrllimited="false" forcelimited="true" forcerange="-60 60" biastype="affine" gainprm="360" biasprm="0 -360 -24"/>
<general name="elbow_R" joint="elbow_R" ctrllimited="false" forcelimited="true" forcerange="-90 90" biastype="affine" gainprm="540" biasprm="0 -540 -36"/>
<general name="forearm_R_pro" joint="forearm_R_pro" ctrllimited="false" forcelimited="true" forcerange="-15 15" biastype="affine" gainprm="90" biasprm="0 -90 -6"/>
<general name="wrist_R_flex" joint="wrist_R_flex" ctrllimited="false" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="120" biasprm="0 -120 -8"/>
<general name="wrist_R_dev" joint="wrist_R_dev" ctrllimited="false" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="120" biasprm="0 -120 -8"/>
<general name="thumb_R_cmc_flex" joint="thumb_R_cmc_flex" ctrllimited="false" forcelimited="true" forcerange="-8 8" biastype="affine" gainprm="48" biasprm="0 -48 -3.2"/>
<general name="thumb_R_cmc_abd" joint="thumb_R_cmc_abd" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="thumb_R_mcp" joint="thumb_R_mcp" ctrllimited="false" forcelimited="true" forcerange="-5 5" biastype="affine" gainprm="30" biasprm="0 -30 -2"/>
<general name="thumb_R_ip" joint="thumb_R_ip" ctrllimited="false" forcelimited="true" forcerange="-3 3" biastype="affine" gainprm="18" biasprm="0 -18 -1.2"/>
<general name="index_R_mcp" joint="index_R_mcp" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="index_R_spread" joint="index_R_spread" ctrllimited="false" forcelimited="true" forcerange="-1.5 1.5" biastype="affine" gainprm="9" biasprm="0 -9 -0.6"/>
<general name="index_R_pip" joint="index_R_pip" ctrllimited="false" forcelimited="true" forcerange="-3.5 3.5" biastype="affine" gainprm="21" biasprm="0 -21 -1.4"/>
<general name="index_R_dip" joint="index_R_dip" ctrllimited="false" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="12" biasprm="0 -12 -0.8"/>
<general name="middle_R_mcp" joint="middle_R_mcp" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="middle_R_spread" joint="middle_R_spread" ctrllimited="false" forcelimited="true" forcerange="-1.5 1.5" biastype="affine" gainprm="9" biasprm="0 -9 -0.6"/>
<general name="middle_R_pip" joint="middle_R_pip" ctrllimited="false" forcelimited="true" forcerange="-3.5 3.5" biastype="affine" gainprm="21" biasprm="0 -21 -1.4"/>
<general name="middle_R_dip" joint="middle_R_dip" ctrllimited="false" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="12" biasprm="0 -12 -0.8"/>
<general name="ring_R_mcp" joint="ring_R_mcp" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="ring_R_spread" joint="ring_R_spread" ctrllimited="false" forcelimited="true" forcerange="-1.5 1.5" biastype="affine" gainprm="9" biasprm="0 -9 -0.6"/>
<general name="ring_R_pip" joint="ring_R_pip" ctrllimited="false" forcelimited="true" forcerange="-3.5 3.5" biastype="affine" gainprm="21" biasprm="0 -21 -1.4"/>
<general name="ring_R_dip" joint="ring_R_dip" ctrllimited="false" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="12" biasprm="0 -12 -0.8"/>
<general name="little_R_mcp" joint="little_R_mcp" ctrllimited="false" forcelimited="true" forcerange="-6 6" biastype="affine" gainprm="36" biasprm="0 -36 -2.4"/>
<general name="little_R_spread" joint="little_R_spread" ctrllimited="false" forcelimited="true" forcerange="-1.5 1.5" biastype="affine" gainprm="9" biasprm="0 -9 -0.6"/>
<general name="little_R_pip" joint="little_R_pip" ctrllimited="false" forcelimited="true" forcerange="-3.5 3.5" biastype="affine" gainprm="21" biasprm="0 -21 -1.4"/>
<general name="little_R_dip" joint="little_R_dip" ctrllimited="false" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="12" biasprm="0 -12 -0.8"/>
<general name="hip_L_flex" joint="hip_L_flex" ctrllimited="false" forcelimited="true" forcerange="-220 220" biastype="affine" gainprm="1320" biasprm="0 -1320 -88"/>
<general name="hip_L_abd" joint="hip_L_abd" ctrllimited="false" forcelimited="true" forcerange="-180 180" biastype="affine" gainprm="1080" biasprm="0 -1080 -72"/>
<general name="hip_L_rot" joint="hip_L_rot" ctrllimited="false" forcelimited="true" forcerange="-90 90" biastype="affine" gainprm="540" biasprm="0 -540 -36"/>
<general name="knee_L" joint="knee_L" ctrllimited="false" forcelimited="true" forcerange="-200 200" biastype="affine" gainprm="1200" biasprm="0 -1200 -80"/>
<general name="ankle_L_flex" joint="ankle_L_flex" ctrllimited="false" forcelimited="true" forcerange="-160 160" biastype="affine" gainprm="960" biasprm="0 -960 -64"/>
<general name="ankle_L_inv" joint="ankle_L_inv" ctrllimited="false" forcelimited="true" forcerange="-60 60" biastype="affine" gainprm="360" biasprm="0 -360 -24"/>
<general name="toes_L" joint="toes_L" ctrllimited="false" forcelimited="true" forcerange="-30 30" biastype="affine" gainprm="180" biasprm="0 -180 -12"/>
<general name="hip_R_flex" joint="hip_R_flex" ctrllimited="false" forcelimited="true" forcerange="-220 220" biastype="affine" gainprm="1320" biasprm="0 -1320 -88"/>
<general name="hip_R_abd" joint="hip_R_abd" ctrllimited="false" forcelimited="true" forcerange="-180 180" biastype="affine" gainprm="1080" biasprm="0 -1080 -72"/>
<general name="hip_R_rot" joint="hip_R_rot" ctrllimited="false" forcelimited="true" forcerange="-90 90" biastype="affine" gainprm="540" biasprm="0 -540 -36"/>
<general name="knee_R" joint="knee_R" ctrllimited="false" forcelimited="true" forcerange="-200 200" biastype="affine" gainprm="1200" biasprm="0 -1200 -80"/>
<general name="ankle_R_flex" joint="ankle_R_flex" ctrllimited="false" forcelimited="true" forcerange="-160 160" biastype="affine" gainprm="960" biasprm="0 -960 -64"/>
<general name="ankle_R_inv" joint="ankle_R_inv" ctrllimited="false" forcelimited="true" forcerange="-60 60" biastype="affine" gainprm="360" biasprm="0 -360 -24"/>
<general name="toes_R" joint="toes_R" ctrllimited="false" forcelimited="true" forcerange="-30 30" biastype="affine" gainprm="180" biasprm="0 -180 -12"/>
</actuator>
<sensor>
<touch site="palm_L" name="palm_L"/>
<touch site="thumb_L_tip" name="thumb_L_tip"/>
<touch site="index_L_tip" name="index_L_tip"/>
<touch site="middle_L_tip" name="middle_L_tip"/>
<touch site="ring_L_tip" name="ring_L_tip"/>
<touch site="little_L_tip" name="little_L_tip"/>
<touch site="palm_R" name="palm_R"/>
<touch site="thumb_R_tip" name="thumb_R_tip"/>
<touch site="index_R_tip" name="index_R_tip"/>
<touch site="middle_R_tip" name="middle_R_tip"/>
<touch site="ring_R_tip" name="ring_R_tip"/>
<touch site="little_R_tip" name="little_R_tip"/>
<touch site="sole_L" name="sole_L"/>
<touch site="sole_R" name="sole_R"/>
</sensor>
</mujoco>