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| <body name="R_Hand" pos="-0.0929 -0.0094 -0.0104" quat="1.0000 0.0000 0.0000 0.0000"> | |
| <joint name="R_Hand_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000" frictionloss="0"/> | |
| <joint name="R_Hand_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000" frictionloss="0"/> | |
| <joint name="R_Hand_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="100" damping="10" armature="0.02" range="-180.0000 180.0000" frictionloss="0"/> | |
| <geom type="mesh" mesh="R_Hand_mesh" density="900" contype="1" conaffinity="1"/> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor name="L_Hip_x" joint="L_Hip_x" gear="1"/> | |
| <motor name="L_Hip_y" joint="L_Hip_y" gear="1"/> | |
| <motor name="L_Hip_z" joint="L_Hip_z" gear="1"/> | |
| <motor name="L_Knee_x" joint="L_Knee_x" gear="1"/> | |
| <motor name="L_Knee_y" joint="L_Knee_y" gear="1"/> | |
| <motor name="L_Knee_z" joint="L_Knee_z" gear="1"/> | |
| <motor name="L_Ankle_x" joint="L_Ankle_x" gear="1"/> | |
| <motor name="L_Ankle_y" joint="L_Ankle_y" gear="1"/> | |
| <motor name="L_Ankle_z" joint="L_Ankle_z" gear="1"/> | |
| <motor name="L_Toe_x" joint="L_Toe_x" gear="1"/> | |
| <motor name="L_Toe_y" joint="L_Toe_y" gear="1"/> | |
| <motor name="L_Toe_z" joint="L_Toe_z" gear="1"/> | |
| <motor name="R_Hip_x" joint="R_Hip_x" gear="1"/> | |
| <motor name="R_Hip_y" joint="R_Hip_y" gear="1"/> | |
| <motor name="R_Hip_z" joint="R_Hip_z" gear="1"/> | |
| <motor name="R_Knee_x" joint="R_Knee_x" gear="1"/> | |
| <motor name="R_Knee_y" joint="R_Knee_y" gear="1"/> | |
| <motor name="R_Knee_z" joint="R_Knee_z" gear="1"/> | |
| <motor name="R_Ankle_x" joint="R_Ankle_x" gear="1"/> | |
| <motor name="R_Ankle_y" joint="R_Ankle_y" gear="1"/> | |
| <motor name="R_Ankle_z" joint="R_Ankle_z" gear="1"/> | |
| <motor name="R_Toe_x" joint="R_Toe_x" gear="1"/> | |
| <motor name="R_Toe_y" joint="R_Toe_y" gear="1"/> | |
| <motor name="R_Toe_z" joint="R_Toe_z" gear="1"/> | |
| <motor name="Torso_x" joint="Torso_x" gear="1"/> | |
| <motor name="Torso_y" joint="Torso_y" gear="1"/> | |
| <motor name="Torso_z" joint="Torso_z" gear="1"/> | |
| <motor name="Spine_x" joint="Spine_x" gear="1"/> | |
| <motor name="Spine_y" joint="Spine_y" gear="1"/> | |
| <motor name="Spine_z" joint="Spine_z" gear="1"/> | |
| <motor name="Chest_x" joint="Chest_x" gear="1"/> | |
| <motor name="Chest_y" joint="Chest_y" gear="1"/> | |
| <motor name="Chest_z" joint="Chest_z" gear="1"/> | |
| <motor name="Neck_x" joint="Neck_x" gear="1"/> | |
| <motor name="Neck_y" joint="Neck_y" gear="1"/> | |
| <motor name="Neck_z" joint="Neck_z" gear="1"/> | |
| <motor name="Head_x" joint="Head_x" gear="1"/> | |
| <motor name="Head_y" joint="Head_y" gear="1"/> | |
| <motor name="Head_z" joint="Head_z" gear="1"/> | |
| <motor name="L_Thorax_x" joint="L_Thorax_x" gear="1"/> | |
| <motor name="L_Thorax_y" joint="L_Thorax_y" gear="1"/> | |
| <motor name="L_Thorax_z" joint="L_Thorax_z" gear="1"/> | |
| <motor name="L_Shoulder_x" joint="L_Shoulder_x" gear="1"/> | |
| <motor name="L_Shoulder_y" joint="L_Shoulder_y" gear="1"/> | |
| <motor name="L_Shoulder_z" joint="L_Shoulder_z" gear="1"/> | |
| <motor name="L_Elbow_x" joint="L_Elbow_x" gear="1"/> | |
| <motor name="L_Elbow_y" joint="L_Elbow_y" gear="1"/> | |
| <motor name="L_Elbow_z" joint="L_Elbow_z" gear="1"/> | |
| <motor name="L_Wrist_x" joint="L_Wrist_x" gear="1"/> | |
| <motor name="L_Wrist_y" joint="L_Wrist_y" gear="1"/> | |
| <motor name="L_Wrist_z" joint="L_Wrist_z" gear="1"/> | |
| <motor name="L_Hand_x" joint="L_Hand_x" gear="1"/> | |
| <motor name="L_Hand_y" joint="L_Hand_y" gear="1"/> | |
| <motor name="L_Hand_z" joint="L_Hand_z" gear="1"/> | |
| <motor name="R_Thorax_x" joint="R_Thorax_x" gear="1"/> | |
| <motor name="R_Thorax_y" joint="R_Thorax_y" gear="1"/> | |
| <motor name="R_Thorax_z" joint="R_Thorax_z" gear="1"/> | |
| <motor name="R_Shoulder_x" joint="R_Shoulder_x" gear="1"/> | |
| <motor name="R_Shoulder_y" joint="R_Shoulder_y" gear="1"/> | |
| <motor name="R_Shoulder_z" joint="R_Shoulder_z" gear="1"/> | |
| <motor name="R_Elbow_x" joint="R_Elbow_x" gear="1"/> | |
| <motor name="R_Elbow_y" joint="R_Elbow_y" gear="1"/> | |
| <motor name="R_Elbow_z" joint="R_Elbow_z" gear="1"/> | |
| <motor name="R_Wrist_x" joint="R_Wrist_x" gear="1"/> | |
| <motor name="R_Wrist_y" joint="R_Wrist_y" gear="1"/> | |
| <motor name="R_Wrist_z" joint="R_Wrist_z" gear="1"/> | |
| <motor name="R_Hand_x" joint="R_Hand_x" gear="1"/> | |
| <motor name="R_Hand_y" joint="R_Hand_y" gear="1"/> | |
| <motor name="R_Hand_z" joint="R_Hand_z" gear="1"/> | |
| </actuator> | |
| <contact/> | |
| <size njmax="2500" nconmax="500"/> | |
| <contact> | |
| <exclude name="add01" body1="L_Shoulder" body2="Chest"/> | |
| <exclude name="add02" body1="R_Shoulder" body2="Chest"/> | |
| </contact> | |
| </mujoco> | |