distill9-196.6M: the Try now page's files

LICENSE

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+Copyright (c) 2026 Kakuto Technology GK. All rights reserved.
+
+The fighter's model, policy weights and reference tables in this repository (web/fighter.xml, web/fighter.json,
+web/fighter.bin, web/punches.bin.gz, web/walk.bin.gz) may be downloaded and run, unmodified, to view the demo at
+https://ai.kakuto.io/en/try/. No other use, copying or redistribution is permitted without written permission
+(info@kakuto.io).
+
+MuJoCo's engine (web/mujoco-3.16.0.wasm.gz) is not covered by this notice: it is (c) DeepMind Technologies Limited
+under the Apache License 2.0; see web/MUJOCO_LICENSE.

README.md

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+---
+license: other
+license_name: all-rights-reserved
+license_link: LICENSE
+library_name: mujoco
+pipeline_tag: reinforcement-learning
+tags:
+  - reinforcement-learning
+  - mujoco
+  - humanoid
+  - martial-arts
+  - ppo
+  - webassembly
+---
+
+# Kakuto fighter
+
+A simulated humanoid martial artist, trained with reinforcement learning (PPO) in [MuJoCo](https://mujoco.org).
+It holds a Muay Thai stance, walks and dashes, blocks, and throws 14 techniques: jab, cross, lead and rear hooks,
+uppercuts, body cross, pull counter, high kicks, knees and elbows.
+
+**Try it in your browser:** [ai.kakuto.io/en/try/](https://ai.kakuto.io/en/try/). The page runs MuJoCo compiled to
+WebAssembly and this policy entirely on your device, and downloads the files in `web/` from this repository.
+
+How it was trained, with videos and costs: [ai.kakuto.io](https://ai.kakuto.io).
+
+## This model
+
+| | |
+|---|---|
+| Checkpoint | `distill9-196.6M` (196.6 M environment steps) |
+| What it is | A student policy distilled from per-skill teacher policies |
+| Body | `muscular-fast`: 48 actuators |
+| Network | MLP, 2 hidden layers of 512 units, ELU; 465 observations in, 48 actions out |
+
+## Files
+
+Everything the browser demo needs is in `web/`:
+
+| File | What |
+|---|---|
+| `fighter.xml` | The MuJoCo model (MJCF): the fighter's body and the scene |
+| `fighter.json` | The metadata: tensor layout in `fighter.bin`, observation layout, action scaling, techniques |
+| `fighter.bin` | The policy's weights and observation normalisation, plus the stance tables |
+| `punches.bin.gz` | The techniques' reference tables (loaded when the first technique is used) |
+| `walk.bin.gz` | The walking reference tables |
+| `mujoco-3.16.0.wasm.gz` | MuJoCo 3.16.0's WebAssembly engine, gzipped; unchanged from the `@mujoco/mujoco` npm package |
+| `MUJOCO_LICENSE` | MuJoCo's licence (Apache 2.0) |
+
+The observation is built by the environment code on the demo page, so the weights alone do not reproduce the
+behaviour.
+
+## Licence
+
+The fighter's model, weights and tables: all rights reserved, Kakuto Technology GK (see `LICENSE`). MuJoCo's engine
+(`web/mujoco-3.16.0.wasm.gz`) is © DeepMind Technologies Limited, under the Apache License 2.0
+(`web/MUJOCO_LICENSE`).

web/MUJOCO_LICENSE

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web/fighter.bin

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+version https://git-lfs.github.com/spec/v1
+oid sha256:bf68bfbd3b25364b7908f057dbc1fe39e9f0ada8bd8b71e4a9b44ea76eaa727d
+size 1307088

web/fighter.json

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web/fighter.xml

@@ -0,0 +1,813 @@
+<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>
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+                <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>

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