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Genesis-Intelligence
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9
duburcqa commited on
Commit
d36ae7d
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unverified ·
1 Parent(s): 573a305

Add humanoid asset.

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Files changed (1) hide show
  1. humanoid.xml +313 -0
humanoid.xml ADDED
@@ -0,0 +1,313 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <mujoco model="humanoid">
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+ <option integrator="implicitfast"/>
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+ <visual>
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+ <global offwidth="1280" offheight="960"/>
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+ <headlight active="1" ambient="0.34 0.34 0.34" diffuse="0.5 0.5 0.5"/>
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+ </visual>
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+ <default>
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+ <joint damping="2" stiffness="2" armature="0.01" limited="true" solimplimit="0 .99 .01"/>
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+ <geom condim="1" friction="0.7 0.005 0.0001" solimp=".99 .99 .003" solref="0.015 1" margin="0.001" rgba="0.8 0.6 .4 1"/>
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+ <default class="smplcontact">
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+ <geom condim="3" friction="1. 0.005 0.0001" solref="0.015 1" solimp="0.98 0.98 0.001" priority="1"/>
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+ </default>
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+ <default class="stiff_medium">
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+ <joint stiffness="10"/>
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+ </default>
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+ <default class="stiff_medium_higher">
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+ <joint stiffness="50"/>
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+ </default>
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+ <default class="stiff_high">
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+ <joint stiffness="100"/>
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+ </default>
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+ </default>
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+ <asset>
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+ <texture type="skybox" builtin="gradient" rgb1="0.99 0.99 0.99" rgb2="0.608 0.828 0.892" width="100"/>
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+ <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
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+ <material name="geom" texture="texgeom" texuniform="true"/>
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+ </asset>
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+ <worldbody>
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+ <light name="tracking_light" pos="0 0 7" dir="0 0 -1" directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular="0.1 0.1 0.1" mode="trackcom"/>
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+ <camera name="back" pos="0 3 2.4" xyaxes="-1 0 0 0 -1 2" mode="trackcom"/>
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+ <camera name="side" pos="-3 0 2.4" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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+ <camera name="front_side" pos="-2.8 -2.8 0.8" xyaxes="0.5 -0.5 0 0.1 0.1 1" mode="trackcom"/>
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+ <body name="Pelvis" pos="-0.0018 -0.2233 0.0282">
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+ <site name="Pelvis" size="0.01"/>
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+ <freejoint name="Pelvis"/>
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+ <geom type="box" pos="-0.0000 -0.0121 -0.0055" size="0.1069 0.0722 0.083" quat="1.0000 0.0000 0.0000 0.0000" density="3165.830099" name="Pelvis"/>
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+ <body name="L_Hip" pos="0.0695 -0.0914 -0.0068">
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+ <joint name="L_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="10" range="-160.0 22.92" class="stiff_medium" damping="15"/>
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+ <joint name="L_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="10" range="-70.0 70.0" class="stiff_medium" damping="10"/>
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+ <joint name="L_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="10" range="-28.65 90.0" class="stiff_medium" damping="10"/>
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+ <geom type="capsule" density="2040.816327" fromto="0.0069 -0.0750 -0.0009 0.0274 -0.3002 -0.0036" size="0.0615" name="L_Hip"/>
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+ <body name="L_Knee" pos="0.0343 -0.3752 -0.0045">
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+ <joint name="L_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-5.16 171.89" damping="8"/>
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+ <joint name="L_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-4.58 6.88" damping="8"/>
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+ <joint name="L_Knee_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-6.88 4.58" damping="8"/>
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+ <geom type="capsule" density="1234.567901" fromto="-0.0027 -0.0796 -0.0087 -0.0109 -0.3184 -0.0350" size="0.0541" name="L_Knee"/>
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+ <body name="L_Ankle" pos="-0.0136 -0.398 -0.0437">
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+ <joint name="L_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-45.84 45.84" class="stiff_medium" damping="6"/>
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+ <joint name="L_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-74.48 22.92" class="stiff_medium" damping="3"/>
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+ <joint name="L_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-4.58 4.58" class="stiff_medium" damping="6"/>
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+ <geom type="box" pos="0.0233 -0.0239 0.0242" size="0.0483 0.0464 0.085" quat="1.0000 0.0000 0.0000 0.0000" density="449.071558" name="L_Ankle" class="smplcontact"/>
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+ <body name="L_Toe" pos="0.0264 -0.0558 0.1193">
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+ <joint name="L_Toe_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-91.67 22.92"/>
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+ <joint name="L_Toe_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-4.58 4.58"/>
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+ <joint name="L_Toe_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-4.58 4.58"/>
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+ <geom type="box" pos="-0.0030 0.0055 0.0248" size="0.0478 0.02 0.0496" quat="1.0000 0.0000 0.0000 0.0000" density="423.206892" name="L_Toe" class="smplcontact"/>
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+ </body>
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+ </body>
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+ </body>
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+ </body>
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+ <body name="R_Hip" pos="-0.0677 -0.0905 -0.0043">
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+ <joint name="R_Hip_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="10" range="-160.0 22.92" class="stiff_medium" damping="15"/>
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+ <joint name="R_Hip_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="10" range="-70.0 70.0" class="stiff_medium" damping="10"/>
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+ <joint name="R_Hip_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="10" range="-90.0 28.65" class="stiff_medium" damping="10"/>
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+ <geom type="capsule" density="2040.816327" fromto="-0.0077 -0.0765 -0.0018 -0.0306 -0.3061 -0.0071" size="0.0606" name="R_Hip"/>
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+ <body name="R_Knee" pos="-0.0383 -0.3826 -0.0089">
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+ <joint name="R_Knee_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-5.16 171.89" damping="8"/>
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+ <joint name="R_Knee_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-6.88 4.58" damping="8"/>
69
+ <joint name="R_Knee_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-4.58 6.88" damping="8"/>
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+ <geom type="capsule" density="1234.567901" fromto="0.0032 -0.0797 -0.0085 0.0126 -0.3187 -0.0338" size="0.0541" name="R_Knee"/>
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+ <body name="R_Ankle" pos="0.0158 -0.3984 -0.0423">
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+ <joint name="R_Ankle_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-45.84 45.84" class="stiff_medium" damping="6"/>
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+ <joint name="R_Ankle_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-22.92 74.48" class="stiff_medium" damping="3"/>
74
+ <joint name="R_Ankle_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-4.58 4.58" class="stiff_medium" damping="6"/>
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+ <geom type="box" pos="-0.0212 -0.0174 0.0256" size="0.0483 0.0478 0.0865" quat="1.0000 0.0000 0.0000 0.0000" density="434.700981" name="R_Ankle" class="smplcontact"/>
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+ <body name="R_Toe" pos="-0.0254 -0.0481 0.1233">
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+ <joint name="R_Toe_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-91.67 22.92"/>
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+ <joint name="R_Toe_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-4.58 4.58"/>
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+ <joint name="R_Toe_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-4.58 4.58"/>
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+ <geom type="box" pos="0.0042 0.0045 0.0227" size="0.0479 0.0216 0.0493" quat="1.0000 0.0000 0.0000 0.0000" density="407.384095" name="R_Toe" class="smplcontact"/>
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+ </body>
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+ </body>
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+ </body>
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+ </body>
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+ <body name="Torso" pos="-0.0025 0.109 -0.0267">
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+ <joint name="Torso_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-25.78 57.3" class="stiff_medium" damping="15"/>
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+ <joint name="Torso_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-57.3 57.3" class="stiff_high" damping="20"/>
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+ <joint name="Torso_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-34.38 34.38" class="stiff_high" damping="20"/>
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+ <geom type="capsule" density="2040.816327" fromto="0.0025 0.0608 0.0005 0.0030 0.0743 0.0006" size="0.0769" name="Torso"/>
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+ <body name="Spine" pos="0.0055 0.1352 0.0011">
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+ <joint name="Spine_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="10" range="-25.78 57.3" class="stiff_medium" damping="15"/>
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+ <joint name="Spine_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="10" range="-57.3 57.3" class="stiff_high" damping="8"/>
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+ <joint name="Spine_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="20" range="-34.38 34.38" class="stiff_high" damping="12"/>
94
+ <geom type="capsule" density="2040.816327" fromto="0.0007 0.0238 0.0114 0.0008 0.0291 0.0140" size="0.0755" name="Spine"/>
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+ <body name="Chest" pos="0.0015 0.0529 0.0254">
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+ <joint name="Chest_x" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="10" range="-25.78 57.3" class="stiff_medium" damping="15"/>
97
+ <joint name="Chest_y" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="10" range="-57.3 57.3" class="stiff_high" damping="8"/>
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+ <joint name="Chest_z" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="20" range="-34.38 34.38" class="stiff_high" damping="12"/>
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+ <geom type="capsule" density="2040.816327" fromto="-0.0009 0.0682 -0.0173 -0.0010 0.0833 -0.0212" size="0.1002" name="Chest"/>
100
+ <body name="Neck" pos="-0.0028 0.2139 -0.0429">
101
+ <joint name="Neck_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-28.65 57.3" class="stiff_medium_higher" damping="10"/>
102
+ <joint name="Neck_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-40.11 40.11" class="stiff_medium_higher" damping="10"/>
103
+ <joint name="Neck_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-40.11 40.11" class="stiff_medium_higher" damping="10"/>
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+ <geom type="capsule" density="1000" fromto="0.0010 0.0130 0.0103 0.0041 0.0520 0.0411" size="0.0436" name="Neck"/>
105
+ <body name="Head" pos="0.0052 0.065 0.0513">
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+ <joint name="Head_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-28.65 57.3" class="stiff_medium_higher" damping="2"/>
107
+ <joint name="Head_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-40.11 40.11" class="stiff_medium_higher" damping="2"/>
108
+ <joint name="Head_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-40.11 40.11" class="stiff_medium_higher" damping="2"/>
109
+ <geom type="box" pos="-0.0042 0.0876 -0.0116" size="0.0606 0.1154 0.076" quat="1.0000 0.0000 0.0000 0.0000" density="1018.069894" name="Head"/>
110
+ <geom type="capsule" name="nose" size="0.02 0.01" pos="0 0.07 .05" quat="1 0 0 0" mass="0" contype="0" conaffinity="0"/>
111
+ </body>
112
+ </body>
113
+ <body name="L_Thorax" pos="0.0788 0.1217 -0.0341">
114
+ <joint name="L_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-10.89 4.58" class="stiff_medium_higher" damping="20"/>
115
+ <joint name="L_Thorax_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-28.65 17.19" class="stiff_medium_higher" damping="20"/>
116
+ <joint name="L_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-31.51 40.11" class="stiff_medium_higher" damping="20"/>
117
+ <geom type="capsule" density="1000" fromto="0.0182 0.0061 -0.0018 0.0728 0.0244 -0.0071" size="0.0521" name="L_Thorax"/>
118
+ <body name="L_Shoulder" pos="0.091 0.0305 -0.0089">
119
+ <joint name="L_Shoulder_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-97.4 97.4" class="stiff_medium" damping="6"/>
120
+ <joint name="L_Shoulder_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-108.86 80.21" class="stiff_medium" damping="6"/>
121
+ <joint name="L_Shoulder_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-97.4 85.94" class="stiff_medium" damping="6"/>
122
+ <geom type="capsule" density="1000" fromto="0.0519 -0.0026 -0.0055 0.2077 -0.0102 -0.0220" size="0.0517" name="L_Shoulder"/>
123
+ <body name="L_Elbow" pos="0.2596 -0.0128 -0.0275">
124
+ <joint name="L_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-17.19 4.58" damping="5"/>
125
+ <joint name="L_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-180.0 17.19" damping="5"/>
126
+ <joint name="L_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-100.84 4.58" damping="5"/>
127
+ <geom type="capsule" density="1000" fromto="0.0498 0.0018 -0.0002 0.1994 0.0072 -0.0009" size="0.0405" name="L_Elbow"/>
128
+ <body name="L_Wrist" pos="0.2492 0.009 -0.0012">
129
+ <joint name="L_Wrist_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-180.0 22.92"/>
130
+ <joint name="L_Wrist_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-17.19 17.19"/>
131
+ <joint name="L_Wrist_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-22.92 22.92"/>
132
+ <geom type="capsule" density="1000" fromto="0.0168 -0.0016 -0.0030 0.0672 -0.0065 -0.0120" size="0.0318" name="L_Wrist" class="smplcontact"/>
133
+ <body name="L_Hand" pos="0.084 -0.0082 -0.0149">
134
+ <joint name="L_Hand_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-17.19 17.19"/>
135
+ <joint name="L_Hand_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-51.57 51.57"/>
136
+ <joint name="L_Hand_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-91.67 91.67"/>
137
+ <geom type="box" pos="0.0493 0.0010 -0.0058" size="0.0585 0.0158 0.0538" quat="1.0000 0.0000 0.0000 0.0000" density="400.552564" name="L_Hand" class="smplcontact"/>
138
+ </body>
139
+ </body>
140
+ </body>
141
+ </body>
142
+ </body>
143
+ <body name="R_Thorax" pos="-0.0818 0.1188 -0.0386">
144
+ <joint name="R_Thorax_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-10.89 4.58" class="stiff_medium_higher" damping="20"/>
145
+ <joint name="R_Thorax_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-17.19 28.65" class="stiff_medium_higher" damping="20"/>
146
+ <joint name="R_Thorax_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-40.11 31.51" class="stiff_medium_higher" damping="20"/>
147
+ <geom type="capsule" density="1000" fromto="-0.0192 0.0065 -0.0018 -0.0768 0.0260 -0.0073" size="0.0511" name="R_Thorax"/>
148
+ <body name="R_Shoulder" pos="-0.096 0.0326 -0.0091">
149
+ <joint name="R_Shoulder_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-97.4 97.4" class="stiff_medium" damping="6"/>
150
+ <joint name="R_Shoulder_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-80.21 108.86" class="stiff_medium" damping="6"/>
151
+ <joint name="R_Shoulder_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-85.94 97.4" class="stiff_medium" damping="6"/>
152
+ <geom type="capsule" density="1000" fromto="-0.0507 -0.0027 -0.0043 -0.2030 -0.0107 -0.0171" size="0.0531" name="R_Shoulder"/>
153
+ <body name="R_Elbow" pos="-0.2537 -0.0133 -0.0214">
154
+ <joint name="R_Elbow_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-17.19 4.58" damping="5"/>
155
+ <joint name="R_Elbow_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-17.19 180.0" damping="5"/>
156
+ <joint name="R_Elbow_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-4.58 100.84" damping="5"/>
157
+ <geom type="capsule" density="1000" fromto="-0.0511 0.0016 -0.0011 -0.2042 0.0062 -0.0044" size="0.0408" name="R_Elbow"/>
158
+ <body name="R_Wrist" pos="-0.2553 0.0078 -0.0056">
159
+ <joint name="R_Wrist_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-180.0 22.92"/>
160
+ <joint name="R_Wrist_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-17.19 17.19"/>
161
+ <joint name="R_Wrist_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-22.92 22.92"/>
162
+ <geom type="capsule" density="1000" fromto="-0.0169 -0.0012 -0.0021 -0.0677 -0.0049 -0.0083" size="0.0326" name="R_Wrist" class="smplcontact"/>
163
+ <body name="R_Hand" pos="-0.0846 -0.0061 -0.0103">
164
+ <joint name="R_Hand_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-17.19 17.19"/>
165
+ <joint name="R_Hand_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-51.57 51.57"/>
166
+ <joint name="R_Hand_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-91.67 91.67"/>
167
+ <geom type="box" pos="-0.0462 -0.0009 -0.0079" size="0.0569 0.0164 0.0546" quat="1.0000 0.0000 0.0000 0.0000" density="403.679611" name="R_Hand" class="smplcontact"/>
168
+ </body>
169
+ </body>
170
+ </body>
171
+ </body>
172
+ </body>
173
+ </body>
174
+ </body>
175
+ </body>
176
+ </body>
177
+ </worldbody>
178
+ <actuator>
179
+ <general name="L_Hip_x" joint="L_Hip_x" biastype="affine" gainprm="287.33006409732246" biasprm="-215.3247604770444 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
180
+ <general name="L_Hip_y" joint="L_Hip_y" biastype="affine" gainprm="219.9114857512855" biasprm="0.0 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
181
+ <general name="L_Hip_z" joint="L_Hip_z" biastype="affine" gainprm="186.3749841742145" biasprm="96.3683546488669 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
182
+ <general name="L_Knee_x" joint="L_Knee_x" biastype="affine" gainprm="278.10948965903646" biasprm="261.8988715665131 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
183
+ <general name="L_Knee_y" joint="L_Knee_y" biastype="affine" gainprm="18.001325905069514" biasprm="3.612831551628262 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
184
+ <general name="L_Knee_z" joint="L_Knee_z" biastype="affine" gainprm="18.001325905069514" biasprm="-3.612831551628262 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
185
+ <general name="L_Ankle_x" joint="L_Ankle_x" biastype="affine" gainprm="72.00530362027807" biasprm="0.0 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
186
+ <general name="L_Ankle_y" joint="L_Ankle_y" biastype="affine" gainprm="76.49778111491148" biasprm="-40.49512930477244 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
187
+ <general name="L_Ankle_z" joint="L_Ankle_z" biastype="affine" gainprm="7.1942471767206255" biasprm="0.0 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
188
+ <general name="L_Toe_x" joint="L_Toe_x" biastype="affine" gainprm="71.99902043497087" biasprm="-43.19689898685965 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
189
+ <general name="L_Toe_y" joint="L_Toe_y" biastype="affine" gainprm="5.755397741376501" biasprm="0.0 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
190
+ <general name="L_Toe_z" joint="L_Toe_z" biastype="affine" gainprm="5.755397741376501" biasprm="0.0 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
191
+ <general name="R_Hip_x" joint="R_Hip_x" biastype="affine" gainprm="287.33006409732246" biasprm="-215.3247604770444 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
192
+ <general name="R_Hip_y" joint="R_Hip_y" biastype="affine" gainprm="219.9114857512855" biasprm="0.0 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
193
+ <general name="R_Hip_z" joint="R_Hip_z" biastype="affine" gainprm="186.3749841742145" biasprm="-96.3683546488669 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
194
+ <general name="R_Knee_x" joint="R_Knee_x" biastype="affine" gainprm="278.10948965903646" biasprm="261.8988715665131 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
195
+ <general name="R_Knee_y" joint="R_Knee_y" biastype="affine" gainprm="18.001325905069514" biasprm="-3.612831551628262 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
196
+ <general name="R_Knee_z" joint="R_Knee_z" biastype="affine" gainprm="18.001325905069514" biasprm="3.612831551628262 -180 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
197
+ <general name="R_Ankle_x" joint="R_Ankle_x" biastype="affine" gainprm="72.00530362027807" biasprm="0.0 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
198
+ <general name="R_Ankle_y" joint="R_Ankle_y" biastype="affine" gainprm="76.49778111491148" biasprm="40.49512930477244 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
199
+ <general name="R_Ankle_z" joint="R_Ankle_z" biastype="affine" gainprm="7.1942471767206255" biasprm="0.0 -90 -2.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-180 180"/>
200
+ <general name="R_Toe_x" joint="R_Toe_x" biastype="affine" gainprm="71.99902043497087" biasprm="-43.19689898685965 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
201
+ <general name="R_Toe_y" joint="R_Toe_y" biastype="affine" gainprm="5.755397741376501" biasprm="0.0 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
202
+ <general name="R_Toe_z" joint="R_Toe_z" biastype="affine" gainprm="5.755397741376501" biasprm="0.0 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
203
+ <general name="Torso_x" joint="Torso_x" biastype="affine" gainprm="174.00234510682668" biasprm="66.0153336274335 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
204
+ <general name="Torso_y" joint="Torso_y" biastype="affine" gainprm="240.0176787342602" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
205
+ <general name="Torso_z" joint="Torso_z" biastype="affine" gainprm="144.01060724055614" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
206
+ <general name="Spine_x" joint="Spine_x" biastype="affine" gainprm="174.00234510682668" biasprm="66.0153336274335 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
207
+ <general name="Spine_y" joint="Spine_y" biastype="affine" gainprm="240.0176787342602" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
208
+ <general name="Spine_z" joint="Spine_z" biastype="affine" gainprm="144.01060724055614" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
209
+ <general name="Chest_x" joint="Chest_x" biastype="affine" gainprm="174.00234510682668" biasprm="66.0153336274335 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
210
+ <general name="Chest_y" joint="Chest_y" biastype="affine" gainprm="240.0176787342602" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
211
+ <general name="Chest_z" joint="Chest_z" biastype="affine" gainprm="144.01060724055614" biasprm="0.0 -240 -4.0" ctrllimited="true" ctrlrange="-1 1" forcerange="-360 360"/>
212
+ <general name="Neck_x" joint="Neck_x" biastype="affine" gainprm="27.00198885760427" biasprm="9.000662952534757 -36 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-72 72"/>
213
+ <general name="Neck_y" joint="Neck_y" biastype="affine" gainprm="25.20185626709732" biasprm="0.0 -36 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-72 72"/>
214
+ <general name="Neck_z" joint="Neck_z" biastype="affine" gainprm="25.20185626709732" biasprm="0.0 -36 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-72 72"/>
215
+ <general name="Head_x" joint="Head_x" biastype="affine" gainprm="18.001325905069514" biasprm="6.000441968356505 -24 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-48 48"/>
216
+ <general name="Head_y" joint="Head_y" biastype="affine" gainprm="16.801237511398213" biasprm="0.0 -24 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-48 48"/>
217
+ <general name="Head_z" joint="Head_z" biastype="affine" gainprm="16.801237511398213" biasprm="0.0 -24 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-48 48"/>
218
+ <general name="L_Thorax_x" joint="L_Thorax_x" biastype="affine" gainprm="16.200146117011364" biasprm="-6.6078165480505335 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
219
+ <general name="L_Thorax_y" joint="L_Thorax_y" biastype="affine" gainprm="48.00353574685204" biasprm="-12.00088393671301 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
220
+ <general name="L_Thorax_z" joint="L_Thorax_z" biastype="affine" gainprm="75.00028861670033" biasprm="9.00589894029074 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
221
+ <general name="L_Shoulder_x" joint="L_Shoulder_x" biastype="affine" gainprm="81.5976331892389" biasprm="0.0 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
222
+ <general name="L_Shoulder_y" joint="L_Shoulder_y" biastype="affine" gainprm="79.19745640189629" biasprm="-12.00088393671301 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
223
+ <general name="L_Shoulder_z" joint="L_Shoulder_z" biastype="affine" gainprm="76.79727961455369" biasprm="-4.800353574685214 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
224
+ <general name="L_Elbow_x" joint="L_Elbow_x" biastype="affine" gainprm="13.67849441372996" biasprm="-7.923096672353461 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
225
+ <general name="L_Elbow_y" joint="L_Elbow_y" biastype="affine" gainprm="123.89813107227425" biasprm="-102.29653998619085 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
226
+ <general name="L_Elbow_z" joint="L_Elbow_z" biastype="affine" gainprm="66.23733950828719" biasprm="-60.4819417669107 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
227
+ <general name="L_Wrist_x" joint="L_Wrist_x" biastype="affine" gainprm="21.24973270888136" biasprm="-16.449379134196157 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
228
+ <general name="L_Wrist_y" joint="L_Wrist_y" biastype="affine" gainprm="3.6002651810139037" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
229
+ <general name="L_Wrist_z" joint="L_Wrist_z" biastype="affine" gainprm="4.800353574685205" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
230
+ <general name="L_Hand_x" joint="L_Hand_x" biastype="affine" gainprm="3.6002651810139037" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
231
+ <general name="L_Hand_y" joint="L_Hand_y" biastype="affine" gainprm="10.800795543041708" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
232
+ <general name="L_Hand_z" joint="L_Hand_z" biastype="affine" gainprm="19.199319903638422" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
233
+ <general name="R_Thorax_x" joint="R_Thorax_x" biastype="affine" gainprm="16.200146117011364" biasprm="-6.6078165480505335 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
234
+ <general name="R_Thorax_y" joint="R_Thorax_y" biastype="affine" gainprm="48.00353574685204" biasprm="12.000883936713002 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
235
+ <general name="R_Thorax_z" joint="R_Thorax_z" biastype="affine" gainprm="75.00028861670033" biasprm="-9.00589894029074 -120 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-240 240"/>
236
+ <general name="R_Shoulder_x" joint="R_Shoulder_x" biastype="affine" gainprm="81.5976331892389" biasprm="0.0 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
237
+ <general name="R_Shoulder_y" joint="R_Shoulder_y" biastype="affine" gainprm="79.19745640189629" biasprm="12.00088393671301 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
238
+ <general name="R_Shoulder_z" joint="R_Shoulder_z" biastype="affine" gainprm="76.79727961455369" biasprm="4.800353574685204 -48 -1.6" ctrllimited="true" ctrlrange="-1 1" forcerange="-96 96"/>
239
+ <general name="R_Elbow_x" joint="R_Elbow_x" biastype="affine" gainprm="13.67849441372996" biasprm="-7.923096672353461 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
240
+ <general name="R_Elbow_y" joint="R_Elbow_y" biastype="affine" gainprm="123.89813107227425" biasprm="102.29653998619085 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
241
+ <general name="R_Elbow_z" joint="R_Elbow_z" biastype="affine" gainprm="66.23733950828719" biasprm="60.481941766910694 -72 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-144 144"/>
242
+ <general name="R_Wrist_x" joint="R_Wrist_x" biastype="affine" gainprm="21.24973270888136" biasprm="-16.449379134196157 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
243
+ <general name="R_Wrist_y" joint="R_Wrist_y" biastype="affine" gainprm="3.6002651810139037" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
244
+ <general name="R_Wrist_z" joint="R_Wrist_z" biastype="affine" gainprm="4.800353574685205" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
245
+ <general name="R_Hand_x" joint="R_Hand_x" biastype="affine" gainprm="3.6002651810139037" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
246
+ <general name="R_Hand_y" joint="R_Hand_y" biastype="affine" gainprm="10.800795543041708" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
247
+ <general name="R_Hand_z" joint="R_Hand_z" biastype="affine" gainprm="19.199319903638422" biasprm="0.0 -12 -0.8" ctrllimited="true" ctrlrange="-1 1" forcerange="-24 24"/>
248
+ </actuator>
249
+ <contact>
250
+ <exclude body1="Torso" body2="Chest"/>
251
+ <exclude body1="Head" body2="Chest"/>
252
+ <exclude body1="R_Knee" body2="R_Toe"/>
253
+ <exclude body1="R_Knee" body2="L_Ankle"/>
254
+ <exclude body1="R_Knee" body2="L_Toe"/>
255
+ <exclude body1="L_Knee" body2="L_Toe"/>
256
+ <exclude body1="L_Knee" body2="R_Ankle"/>
257
+ <exclude body1="L_Knee" body2="R_Toe"/>
258
+ <exclude body1="L_Shoulder" body2="Chest"/>
259
+ <exclude body1="R_Shoulder" body2="Chest"/>
260
+ </contact>
261
+ <sensor>
262
+ <framelinvel name="sensor_Pelvis_framelinvel" objtype="xbody" objname="Pelvis"/>
263
+ <framelinvel name="sensor_L_Hip_framelinvel" objtype="xbody" objname="L_Hip"/>
264
+ <framelinvel name="sensor_L_Knee_framelinvel" objtype="xbody" objname="L_Knee"/>
265
+ <framelinvel name="sensor_L_Ankle_framelinvel" objtype="xbody" objname="L_Ankle"/>
266
+ <framelinvel name="sensor_L_Toe_framelinvel" objtype="xbody" objname="L_Toe"/>
267
+ <framelinvel name="sensor_R_Hip_framelinvel" objtype="xbody" objname="R_Hip"/>
268
+ <framelinvel name="sensor_R_Knee_framelinvel" objtype="xbody" objname="R_Knee"/>
269
+ <framelinvel name="sensor_R_Ankle_framelinvel" objtype="xbody" objname="R_Ankle"/>
270
+ <framelinvel name="sensor_R_Toe_framelinvel" objtype="xbody" objname="R_Toe"/>
271
+ <framelinvel name="sensor_Torso_framelinvel" objtype="xbody" objname="Torso"/>
272
+ <framelinvel name="sensor_Spine_framelinvel" objtype="xbody" objname="Spine"/>
273
+ <framelinvel name="sensor_Chest_framelinvel" objtype="xbody" objname="Chest"/>
274
+ <framelinvel name="sensor_Neck_framelinvel" objtype="xbody" objname="Neck"/>
275
+ <framelinvel name="sensor_Head_framelinvel" objtype="xbody" objname="Head"/>
276
+ <framelinvel name="sensor_L_Thorax_framelinvel" objtype="xbody" objname="L_Thorax"/>
277
+ <framelinvel name="sensor_L_Shoulder_framelinvel" objtype="xbody" objname="L_Shoulder"/>
278
+ <framelinvel name="sensor_L_Elbow_framelinvel" objtype="xbody" objname="L_Elbow"/>
279
+ <framelinvel name="sensor_L_Wrist_framelinvel" objtype="xbody" objname="L_Wrist"/>
280
+ <framelinvel name="sensor_L_Hand_framelinvel" objtype="xbody" objname="L_Hand"/>
281
+ <framelinvel name="sensor_R_Thorax_framelinvel" objtype="xbody" objname="R_Thorax"/>
282
+ <framelinvel name="sensor_R_Shoulder_framelinvel" objtype="xbody" objname="R_Shoulder"/>
283
+ <framelinvel name="sensor_R_Elbow_framelinvel" objtype="xbody" objname="R_Elbow"/>
284
+ <framelinvel name="sensor_R_Wrist_framelinvel" objtype="xbody" objname="R_Wrist"/>
285
+ <framelinvel name="sensor_R_Hand_framelinvel" objtype="xbody" objname="R_Hand"/>
286
+ <frameangvel name="sensor_Pelvis_frameangvel" objtype="xbody" objname="Pelvis"/>
287
+ <frameangvel name="sensor_L_Hip_frameangvel" objtype="xbody" objname="L_Hip"/>
288
+ <frameangvel name="sensor_L_Knee_frameangvel" objtype="xbody" objname="L_Knee"/>
289
+ <frameangvel name="sensor_L_Ankle_frameangvel" objtype="xbody" objname="L_Ankle"/>
290
+ <frameangvel name="sensor_L_Toe_frameangvel" objtype="xbody" objname="L_Toe"/>
291
+ <frameangvel name="sensor_R_Hip_frameangvel" objtype="xbody" objname="R_Hip"/>
292
+ <frameangvel name="sensor_R_Knee_frameangvel" objtype="xbody" objname="R_Knee"/>
293
+ <frameangvel name="sensor_R_Ankle_frameangvel" objtype="xbody" objname="R_Ankle"/>
294
+ <frameangvel name="sensor_R_Toe_frameangvel" objtype="xbody" objname="R_Toe"/>
295
+ <frameangvel name="sensor_Torso_frameangvel" objtype="xbody" objname="Torso"/>
296
+ <frameangvel name="sensor_Spine_frameangvel" objtype="xbody" objname="Spine"/>
297
+ <frameangvel name="sensor_Chest_frameangvel" objtype="xbody" objname="Chest"/>
298
+ <frameangvel name="sensor_Neck_frameangvel" objtype="xbody" objname="Neck"/>
299
+ <frameangvel name="sensor_Head_frameangvel" objtype="xbody" objname="Head"/>
300
+ <frameangvel name="sensor_L_Thorax_frameangvel" objtype="xbody" objname="L_Thorax"/>
301
+ <frameangvel name="sensor_L_Shoulder_frameangvel" objtype="xbody" objname="L_Shoulder"/>
302
+ <frameangvel name="sensor_L_Elbow_frameangvel" objtype="xbody" objname="L_Elbow"/>
303
+ <frameangvel name="sensor_L_Wrist_frameangvel" objtype="xbody" objname="L_Wrist"/>
304
+ <frameangvel name="sensor_L_Hand_frameangvel" objtype="xbody" objname="L_Hand"/>
305
+ <frameangvel name="sensor_R_Thorax_frameangvel" objtype="xbody" objname="R_Thorax"/>
306
+ <frameangvel name="sensor_R_Shoulder_frameangvel" objtype="xbody" objname="R_Shoulder"/>
307
+ <frameangvel name="sensor_R_Elbow_frameangvel" objtype="xbody" objname="R_Elbow"/>
308
+ <frameangvel name="sensor_R_Wrist_frameangvel" objtype="xbody" objname="R_Wrist"/>
309
+ <frameangvel name="sensor_R_Hand_frameangvel" objtype="xbody" objname="R_Hand"/>
310
+ <subtreelinvel name="Chest_subtreelinvel" body="Chest"/>
311
+ <gyro name="Pelvis_gyro" site="Pelvis"/>
312
+ </sensor>
313
+ </mujoco>