<?xml version="1.0"?>
<mujoco model="jvrc1">
    <compiler angle="radian" meshdir="../meshes" />
    <size njmax="500" nconmax="100" />
    <option timestep="0.001" iterations="50" tolerance="1e-10" solver="PGS" jacobian="dense" cone="pyramidal" />
    <default>
        <joint limited="true" damping="0.2" pos="0 0 0" />
        <motor ctrllimited="false" forcelimited="false" />
        <default class="collision">
            <geom condim="3" material="matgeom" type="mesh" group="0" />
        </default>
        <default class="visual">
            <geom condim="3" material="matgeom" type="mesh" group="1" conaffinity="0" contype="0" />
        </default>
    </default>
    <visual>
        <map force="0.1" zfar="30" />
        <rgba haze="0.15 0.25 0.35 1" />
        <quality shadowsize="2048" />
        <global offwidth="800" offheight="800" />
    </visual>
    <asset>
        <!-- collision meshes -->
        <mesh name="PELVIS_S_mesh" file="convex/PELVIS_S.stl" />
        <mesh name="R_HIP_R_S_mesh" file="convex/R_HIP_R_S.stl" />
        <mesh name="R_HIP_Y_S_mesh" file="convex/R_HIP_Y_S.stl" />
        <mesh name="R_KNEE_S_mesh" file="convex/R_KNEE_S.stl" />
        <mesh name="R_ANKLE_P_S_mesh" file="convex/R_ANKLE_P_S.stl" />
        <mesh name="L_HIP_R_S_mesh" file="convex/L_HIP_R_S.stl" />
        <mesh name="L_HIP_Y_S_mesh" file="convex/L_HIP_Y_S.stl" />
        <mesh name="L_KNEE_S_mesh" file="convex/L_KNEE_S.stl" />
        <mesh name="L_ANKLE_P_S_mesh" file="convex/L_ANKLE_P_S.stl" />
        <mesh name="WAIST_Y_S_mesh" file="convex/WAIST_Y_S.stl" />
        <mesh name="WAIST_R_S_mesh" file="convex/WAIST_R_S.stl" />
        <mesh name="NECK_Y_S_mesh" file="convex/NECK_Y_S.stl" />
        <mesh name="NECK_P_S_mesh" file="convex/NECK_P_S.stl" />
        <mesh name="R_SHOULDER_P_S_mesh" file="convex/R_SHOULDER_P_S.stl" />
        <mesh name="R_SHOULDER_Y_S_mesh" file="convex/R_SHOULDER_Y_S.stl" />
        <mesh name="R_ELBOW_P_S_mesh" file="convex/R_ELBOW_P_S.stl" />
        <mesh name="R_ELBOW_Y_S_mesh" file="convex/R_ELBOW_Y_S.stl" />
        <mesh name="R_WRIST_Y_S_mesh" file="convex/R_WRIST_Y_S.stl" />
        <mesh name="R_UTHUMB_S_mesh" file="convex/R_UTHUMB_S.stl" />
        <mesh name="R_LTHUMB_S_mesh" file="convex/R_LTHUMB_S.stl" />
        <mesh name="R_UINDEX_S_mesh" file="convex/R_UINDEX_S.stl" />
        <mesh name="R_LINDEX_S_mesh" file="convex/R_LINDEX_S.stl" />
        <mesh name="R_ULITTLE_S_mesh" file="convex/R_ULITTLE_S.stl" />
        <mesh name="R_LLITTLE_S_mesh" file="convex/R_LLITTLE_S.stl" />
        <mesh name="L_SHOULDER_P_S_mesh" file="convex/L_SHOULDER_P_S.stl" />
        <mesh name="L_SHOULDER_Y_S_mesh" file="convex/L_SHOULDER_Y_S.stl" />
        <mesh name="L_ELBOW_P_S_mesh" file="convex/L_ELBOW_P_S.stl" />
        <mesh name="L_ELBOW_Y_S_mesh" file="convex/L_ELBOW_Y_S.stl" />
        <mesh name="L_WRIST_Y_S_mesh" file="convex/L_WRIST_Y_S.stl" />
        <mesh name="L_UTHUMB_S_mesh" file="convex/L_UTHUMB_S.stl" />
        <mesh name="L_LTHUMB_S_mesh" file="convex/L_LTHUMB_S.stl" />
        <mesh name="L_UINDEX_S_mesh" file="convex/L_UINDEX_S.stl" />
        <mesh name="L_LINDEX_S_mesh" file="convex/L_LINDEX_S.stl" />
        <mesh name="L_ULITTLE_S_mesh" file="convex/L_ULITTLE_S.stl" />
        <mesh name="L_LLITTLE_S_mesh" file="convex/L_LLITTLE_S.stl" />
        <!-- visualization meshes -->
        <mesh name="PELVIS_S_vis" file="visual/PELVIS_S.stl" />
        <mesh name="R_HIP_R_S_vis" file="visual/R_HIP_R_S.stl" />
        <mesh name="R_HIP_Y_S_vis" file="visual/R_HIP_Y_S.stl" />
        <mesh name="R_KNEE_S_vis" file="visual/R_KNEE_S.stl" />
        <mesh name="R_ANKLE_P_S_vis" file="visual/R_ANKLE_P_S.stl" />
        <mesh name="L_HIP_R_S_vis" file="visual/L_HIP_R_S.stl" />
        <mesh name="L_HIP_Y_S_vis" file="visual/L_HIP_Y_S.stl" />
        <mesh name="L_KNEE_S_vis" file="visual/L_KNEE_S.stl" />
        <mesh name="L_ANKLE_P_S_vis" file="visual/L_ANKLE_P_S.stl" />
        <mesh name="WAIST_Y_S_vis" file="visual/WAIST_Y_S.stl" />
        <mesh name="WAIST_R_S_vis" file="visual/WAIST_R_S.stl" />
        <mesh name="NECK_Y_S_vis" file="visual/NECK_Y_S.stl" />
        <mesh name="NECK_P_S_vis" file="visual/NECK_P_S.stl" />
        <mesh name="R_SHOULDER_P_S_vis" file="visual/R_SHOULDER_P_S.stl" />
        <mesh name="R_SHOULDER_Y_S_vis" file="visual/R_SHOULDER_Y_S.stl" />
        <mesh name="R_ELBOW_P_S_vis" file="visual/R_ELBOW_P_S.stl" />
        <mesh name="R_ELBOW_Y_S_vis" file="visual/R_ELBOW_Y_S.stl" />
        <mesh name="R_WRIST_Y_S_vis" file="visual/R_WRIST_Y_S.stl" />
        <mesh name="R_UTHUMB_S_vis" file="visual/R_UTHUMB_S.stl" />
        <mesh name="R_LTHUMB_S_vis" file="visual/R_LTHUMB_S.stl" />
        <mesh name="R_UINDEX_S_vis" file="visual/R_UINDEX_S.stl" />
        <mesh name="R_LINDEX_S_vis" file="visual/R_LINDEX_S.stl" />
        <mesh name="R_ULITTLE_S_vis" file="visual/R_ULITTLE_S.stl" />
        <mesh name="R_LLITTLE_S_vis" file="visual/R_LLITTLE_S.stl" />
        <mesh name="L_SHOULDER_P_S_vis" file="visual/L_SHOULDER_P_S.stl" />
        <mesh name="L_SHOULDER_Y_S_vis" file="visual/L_SHOULDER_Y_S.stl" />
        <mesh name="L_ELBOW_P_S_vis" file="visual/L_ELBOW_P_S.stl" />
        <mesh name="L_ELBOW_Y_S_vis" file="visual/L_ELBOW_Y_S.stl" />
        <mesh name="L_WRIST_Y_S_vis" file="visual/L_WRIST_Y_S.stl" />
        <mesh name="L_UTHUMB_S_vis" file="visual/L_UTHUMB_S.stl" />
        <mesh name="L_LTHUMB_S_vis" file="visual/L_LTHUMB_S.stl" />
        <mesh name="L_UINDEX_S_vis" file="visual/L_UINDEX_S.stl" />
        <mesh name="L_LINDEX_S_vis" file="visual/L_LINDEX_S.stl" />
        <mesh name="L_ULITTLE_S_vis" file="visual/L_ULITTLE_S.stl" />
        <mesh name="L_LLITTLE_S_vis" file="visual/L_LLITTLE_S.stl" />
        <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01" />
        <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1" />
    </asset>
    <contact>
        <exclude body1="PELVIS_S" body2="R_HIP_R_S" />
        <exclude body1="PELVIS_S" body2="R_HIP_Y_S" />
        <exclude body1="PELVIS_S" body2="L_HIP_R_S" />
        <exclude body1="PELVIS_S" body2="L_HIP_Y_S" />
        <exclude body1="PELVIS_S" body2="WAIST_R_S" />
        <exclude body1="R_KNEE_S" body2="R_ANKLE_P_S" />
        <exclude body1="L_KNEE_S" body2="L_ANKLE_P_S" />
        <exclude body1="WAIST_Y_S" body2="WAIST_R_S" />
        <exclude body1="NECK_Y_S" body2="NECK_P_S" />
        <exclude body1="R_SHOULDER_P_S" body2="R_SHOULDER_Y_S" />
        <exclude body1="R_ELBOW_Y_S" body2="R_WRIST_Y_S" />
        <exclude body1="L_SHOULDER_P_S" body2="L_SHOULDER_Y_S" />
        <exclude body1="L_ELBOW_Y_S" body2="L_WRIST_Y_S" />
    </contact>
    <worldbody>
        <light directional="false" diffuse="0.2 0.2 0.2" specular="0 0 0" pos="0 0 2" dir="0 0 -1" castshadow="false" />
        <light mode="targetbodycom" target="PELVIS_S" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1" />
        <!-- pelvis -->
        <body name="PELVIS_S" pos="0 0 1.4">
            <freejoint name="root" />
            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="PELVIS_S_mesh" />
            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="PELVIS_S_vis" />
            <inertial pos="-0.01 0 0.034" mass="10" diaginertia="0.08958333333333333 0.08958333333333333 0.11249999999999999" />
            <!-- site for root imu sensor -->
            <site name="imu" size="0.01" pos="0 0 0" />
            <!-- right leg -->
            <body name="R_HIP_P_S" pos="0 -0.096 0">
                <inertial pos="0 0 0" mass="1" diaginertia="0.00196 0.00196 0.00196" />
                <joint name="R_HIP_P" axis="0 1 0" range="-2.0944 0.785398" armature="0.1925" />
                <body name="R_HIP_R_S" pos="0 0 0">
                    <inertial pos="0 0 0" mass="1" diaginertia="0.00196 0.00196 0.00196" />
                    <joint name="R_HIP_R" axis="1 0 0" range="-0.785398 0.349066" armature="0.1813" />
                    <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_HIP_R_S_mesh" />
                    <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_HIP_R_S_vis" />
                    <body name="R_HIP_Y_S" pos="0 0 0">
                        <inertial pos="0.01 0 -0.22" quat="0.707107 0 0 0.707107" mass="3" diaginertia="0.034525 0.031925 0.00865" />
                        <joint name="R_HIP_Y" axis="0 0 1" range="-0.523599 0.785398" armature="0.1237" />
                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_HIP_Y_S_mesh" />
                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_HIP_Y_S_vis" />
                        <body name="R_KNEE_S" pos="-0.02 0 -0.389">
                            <inertial pos="0.04 0 -0.16" quat="0.707107 0 0 0.707107" mass="3" diaginertia="0.034525 0.031925 0.00865" />
                            <joint name="R_KNEE" axis="0 1 0" range="0 2.61799" armature="0.1305" />
                            <geom class="collision" mesh="R_KNEE_S_mesh" />
                            <geom class="visual" mesh="R_KNEE_S_vis" />
                            <body name="R_ANKLE_R_S" pos="0.04 0 -0.357">
                                <inertial pos="0 0 0" mass="1" diaginertia="0.00064 0.00064 0.00064" />
                                <joint name="R_ANKLE_R" axis="1 0 0" range="-0.610865 0.785398" armature="0.0653" />
                                <body name="R_ANKLE_P_S" pos="0 0 0">
                                    <inertial pos="0.03 0 -0.07" quat="0 0.707107 0 0.707107" mass="1.5" diaginertia="0.00621667 0.00561667 0.00141667" />
                                    <joint name="R_ANKLE_P" axis="0 1 0" range="-1.48353 0.959931" armature="0.1337" />
                                    <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_ANKLE_P_S_mesh" />
                                    <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_ANKLE_P_S_vis" />
                                    <!-- site for right foot f/t sensor -->
                                    <site name="rf_force" size="0.01" pos="0.0 0.0 0.0" />
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <!-- left leg -->
            <body name="L_HIP_P_S" pos="0 0.096 0">
                <inertial pos="0 0 0" mass="1" diaginertia="0.00196 0.00196 0.00196" />
                <joint name="L_HIP_P" axis="0 1 0" range="-2.0944 0.785398" armature="0.1925" />
                <body name="L_HIP_R_S" pos="0 0 0">
                    <inertial pos="0 0 0" mass="1" diaginertia="0.00196 0.00196 0.00196" />
                    <joint name="L_HIP_R" axis="1 0 0" range="-0.349066 0.785398" armature="0.1813" />
                    <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_HIP_R_S_mesh" />
                    <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_HIP_R_S_vis" />
                    <body name="L_HIP_Y_S" pos="0 0 0">
                        <inertial pos="0.01 0 -0.22" quat="0.707107 0 0 0.707107" mass="3" diaginertia="0.034525 0.031925 0.00865" />
                        <joint name="L_HIP_Y" axis="0 0 1" range="-0.785398 0.523599" armature="0.1237" />
                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_HIP_Y_S_mesh" />
                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_HIP_Y_S_vis" />
                        <body name="L_KNEE_S" pos="-0.02 0 -0.389">
                            <inertial pos="0.04 0 -0.16" quat="0.707107 0 0 0.707107" mass="3" diaginertia="0.034525 0.031925 0.00865" />
                            <joint name="L_KNEE" axis="0 1 0" range="0 2.61799" armature="0.1305" />
                            <geom class="collision" mesh="L_KNEE_S_mesh" />
                            <geom class="visual" mesh="L_KNEE_S_vis" />
                            <body name="L_ANKLE_R_S" pos="0.04 0 -0.357">
                                <inertial pos="0 0 0" mass="1" diaginertia="0.00064 0.00064 0.00064" />
                                <joint name="L_ANKLE_R" axis="1 0 0" range="-0.785398 0.610865" armature="0.0653" />
                                <body name="L_ANKLE_P_S" pos="0 0 0">
                                    <inertial pos="0.03 0 -0.07" quat="0 0.707107 0 0.707107" mass="1.5" diaginertia="0.00621667 0.00561667 0.00141667" />
                                    <joint name="L_ANKLE_P" axis="0 1 0" range="-1.48353 0.959931" armature="0.1337" />
                                    <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_ANKLE_P_S_mesh" />
                                    <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_ANKLE_P_S_vis" />
                                    <!-- site for left foot f/t sensor -->
                                    <site name="lf_force" size="0.01" pos="0.0 0.0 0.0" />
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
            <!-- chest -->
            <body name="WAIST_Y_S" pos="0 0 0.192">
                <inertial pos="0 0 -0.07" quat="0.5 0.5 -0.5 0.5" mass="1" diaginertia="0.0032 0.00173333 0.00173333" />
                <joint name="WAIST_Y" axis="0 0 1" range="-0.785398 0.785398" armature="0.1221" />
                <geom class="collision" quat="0.707105 0 0 0.707108" mesh="WAIST_Y_S_mesh" />
                <geom class="visual" quat="0.707105 0 0 0.707108" mesh="WAIST_Y_S_vis" />
                <body name="WAIST_P_S" pos="0 0 0">
                    <inertial pos="0 0 0" mass="1" diaginertia="0.00245 0.002425 0.002425" />
                    <joint name="WAIST_P" axis="0 1 0" range="-0.523599 1.0472" armature="0.1813" />
                    <body name="WAIST_R_S" pos="0 0 0">
                        <inertial pos="0.02 0 0.24" quat="0.707107 0.707107 0 0" mass="10" diaginertia="0.157083 0.136667 0.101083" />
                        <joint name="WAIST_R" axis="1 0 0" range="-0.872665 0.872665" armature="0.1054" />
                        <geom class="collision" mesh="WAIST_R_S_mesh" />
                        <geom class="visual" mesh="WAIST_R_S_vis" />
                        <!-- head -->
                        <body name="NECK_Y_S" pos="-0.003 0 0.453">
                            <inertial pos="0 0 -0.05" mass="0.5" diaginertia="0.000729167 0.000729167 0.000625" />
                            <joint name="NECK_Y" axis="0 0 1" range="-1.22173 1.22173" armature="0.0567" />
                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="NECK_Y_S_mesh" />
                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="NECK_Y_S_vis" />
                            <body name="NECK_R_S" pos="0 0 0">
                                <inertial pos="0 0 0" mass="0.5" diaginertia="0.0005 0.0005 0.0005" />
                                <joint name="NECK_R" axis="1 0 0" range="-0.872665 0.872665" armature="0.0596" />
                                <body name="NECK_P_S" pos="0 0 0">
                                    <inertial pos="0.01 0 0.11" mass="2" diaginertia="0.00968 0.00968 0.00968" />
                                    <joint name="NECK_P" axis="0 1 0" range="-0.872665 1.0472" armature="0.0596" />
                                    <geom class="collision" mesh="NECK_P_S_mesh" />
                                    <geom class="visual" mesh="NECK_P_S_vis" />
                                </body>
                            </body>
                        </body>
                        <!-- right arm -->
                        <body name="R_SHOULDER_P_S" pos="0 -0.24 0.33">
                            <inertial pos="0 0 0" mass="1" diaginertia="0.00196 0.00196 0.00196" />
                            <joint name="R_SHOULDER_P" axis="0 1 0" range="-3.14159 1.0472" armature="0.1210" />
                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_SHOULDER_P_S_mesh" />
                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_SHOULDER_P_S_vis" />
                            <body name="R_SHOULDER_R_S" pos="0 0 0">
                                <inertial pos="0 0 0" mass="1" diaginertia="0.00196 0.00196 0.00196" />
                                <joint name="R_SHOULDER_R" axis="1 0 0" range="-1.74533 0.174533" armature="0.1210" />
                                <body name="R_SHOULDER_Y_S" pos="0 0 0">
                                    <inertial pos="-0.01 0 -0.19" quat="0.707107 0 0 0.707107" mass="2" diaginertia="0.0146 0.01365 0.00635" />
                                    <joint name="R_SHOULDER_Y" axis="0 0 1" range="-1.5708 1.5708" armature="0.1231" />
                                    <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_SHOULDER_Y_S_mesh" />
                                    <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_SHOULDER_Y_S_vis" />
                                    <body name="R_ELBOW_P_S" pos="0.004 0 -0.305">
                                        <inertial pos="-0.02 0 -0.1" mass="1" diaginertia="0.010675 0.010675 0.0027" />
                                        <joint name="R_ELBOW_P" axis="0 1 0" range="-2.53073 0" armature="0.1054" />
                                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_ELBOW_P_S_mesh" />
                                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_ELBOW_P_S_vis" />
                                        <body name="R_ELBOW_Y_S" pos="-0.004 0 -0.239">
                                            <inertial pos="0 0 0" mass="1" diaginertia="0.00064 0.00064 0.00064" />
                                            <joint name="R_ELBOW_Y" axis="0 0 1" range="-1.91986 1.91986" armature="0.1240" />
                                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_ELBOW_Y_S_mesh" />
                                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_ELBOW_Y_S_vis" />
                                            <body name="R_WRIST_R_S" pos="0 0 0">
                                                <inertial pos="0 0 0" mass="0.5" diaginertia="0.00032 0.00032 0.00032" />
                                                <joint name="R_WRIST_R" axis="1 0 0" range="-1.91986 1.91986" armature="0.0876" />
                                                <body name="R_WRIST_Y_S" pos="0 0 0">
                                                    <inertial pos="0 0.01 -0.06" quat="0.707107 0 0 0.707107" mass="0.5" diaginertia="0.0007625 0.0004625 0.0004625" />
                                                    <joint name="R_WRIST_Y" axis="0 0 1" range="-2.61799 2.61799" armature="0.1240" />
                                                    <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_WRIST_Y_S_mesh" />
                                                    <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_WRIST_Y_S_vis" />
                                                    <!-- site for right hand f/t sensor -->
                                                    <site name="rh_force" size="0.01" pos="0.0 0.0 0.0" />
                                                    <!-- right hand -->
                                                    <body name="R_UTHUMB_S" pos="0 0.023 -0.084">
                                                        <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                        <joint name="R_UTHUMB" axis="1 0 0" range="-0.785398 0" armature="0.0130" />
                                                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_UTHUMB_S_mesh" />
                                                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_UTHUMB_S_vis" />
                                                        <body name="R_LTHUMB_S" pos="0 0 -0.045">
                                                            <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                            <joint name="R_LTHUMB" axis="1 0 0" range="-1.5708 0" armature="0.0320" />
                                                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_LTHUMB_S_mesh" />
                                                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_LTHUMB_S_vis" />
                                                        </body>
                                                    </body>
                                                    <body name="R_UINDEX_S" pos="0.025 -0.006 -0.102">
                                                        <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                        <joint name="R_UINDEX" axis="1 0 0" range="0 1.5708" armature="0.0073" />
                                                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_UINDEX_S_mesh" />
                                                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_UINDEX_S_vis" />
                                                        <body name="R_LINDEX_S" pos="0 0 -0.045">
                                                            <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                            <joint name="R_LINDEX" axis="1 0 0" range="0 1.5708" armature="0.0039" />
                                                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_LINDEX_S_mesh" />
                                                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_LINDEX_S_vis" />
                                                        </body>
                                                    </body>
                                                    <body name="R_ULITTLE_S" pos="-0.025 -0.006 -0.102">
                                                        <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                        <joint name="R_ULITTLE" axis="1 0 0" range="0 1.5708" armature="0.0073" />
                                                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_ULITTLE_S_mesh" />
                                                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_ULITTLE_S_vis" />
                                                        <body name="R_LLITTLE_S" pos="0 0 -0.045">
                                                            <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                            <joint name="R_LLITTLE" axis="1 0 0" range="0 1.5708" armature="0.0039" />
                                                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="R_LLITTLE_S_mesh" />
                                                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="R_LLITTLE_S_vis" />
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                        <!-- left arm -->
                        <body name="L_SHOULDER_P_S" pos="0 0.24 0.33">
                            <inertial pos="0 0 0" mass="1" diaginertia="0.00196 0.00196 0.00196" />
                            <joint name="L_SHOULDER_P" axis="0 1 0" range="-3.14159 1.0472" armature="0.1210" />
                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_SHOULDER_P_S_mesh" />
                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_SHOULDER_P_S_vis" />
                            <body name="L_SHOULDER_R_S" pos="0 0 0">
                                <inertial pos="0 0 0" mass="1" diaginertia="0.00196 0.00196 0.00196" />
                                <joint name="L_SHOULDER_R" axis="1 0 0" range="-0.174533 1.74533" armature="0.1210" />
                                <body name="L_SHOULDER_Y_S" pos="0 0 0">
                                    <inertial pos="-0.01 0 -0.19" quat="0.707107 0 0 0.707107" mass="2" diaginertia="0.0146 0.01365 0.00635" />
                                    <joint name="L_SHOULDER_Y" axis="0 0 1" range="-1.5708 1.5708" armature="0.1231" />
                                    <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_SHOULDER_Y_S_mesh" />
                                    <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_SHOULDER_Y_S_vis" />
                                    <body name="L_ELBOW_P_S" pos="0.004 0 -0.305">
                                        <inertial pos="-0.02 0 -0.1" mass="1" diaginertia="0.010675 0.010675 0.0027" />
                                        <joint name="L_ELBOW_P" axis="0 1 0" range="-2.53073 0" armature="0.1054" />
                                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_ELBOW_P_S_mesh" />
                                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_ELBOW_P_S_vis" />
                                        <body name="L_ELBOW_Y_S" pos="-0.004 0 -0.239">
                                            <inertial pos="0 0 0" mass="1" diaginertia="0.00064 0.00064 0.00064" />
                                            <joint name="L_ELBOW_Y" axis="0 0 1" range="-1.91986 1.91986" armature="0.1240" />
                                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_ELBOW_Y_S_mesh" />
                                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_ELBOW_Y_S_vis" />
                                            <body name="L_WRIST_R_S" pos="0 0 0">
                                                <inertial pos="0 0 0" mass="0.5" diaginertia="0.00032 0.00032 0.00032" />
                                                <joint name="L_WRIST_R" axis="1 0 0" range="-1.91986 1.91986" armature="0.0876" />
                                                <body name="L_WRIST_Y_S" pos="0 0 0">
                                                    <inertial pos="0 -0.01 -0.06" quat="0.707107 0 0 0.707107" mass="0.5" diaginertia="0.0007625 0.0004625 0.0004625" />
                                                    <joint name="L_WRIST_Y" axis="0 0 1" range="-2.61799 2.61799" armature="0.1240" />
                                                    <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_WRIST_Y_S_mesh" />
                                                    <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_WRIST_Y_S_vis" />
                                                    <!-- site for left hand f/t sensor -->
                                                    <site name="lh_force" size="0.01" pos="0.0 0.0 0.0" />
                                                    <!-- left hand -->
                                                    <body name="L_UTHUMB_S" pos="0 -0.023 -0.084">
                                                        <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                        <joint name="L_UTHUMB" axis="1 0 0" range="0 0.785398" armature="0.0130" />
                                                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_UTHUMB_S_mesh" />
                                                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_UTHUMB_S_vis" />
                                                        <body name="L_LTHUMB_S" pos="0 0 -0.045">
                                                            <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                            <joint name="L_LTHUMB" axis="1 0 0" range="0 1.5708" armature="0.0320" />
                                                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_LTHUMB_S_mesh" />
                                                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_LTHUMB_S_vis" />
                                                        </body>
                                                    </body>
                                                    <body name="L_UINDEX_S" pos="0.025 0.006 -0.102">
                                                        <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                        <joint name="L_UINDEX" axis="1 0 0" range="-1.5708 0" armature="0.0073" />
                                                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_UINDEX_S_mesh" />
                                                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_UINDEX_S_vis" />
                                                        <body name="L_LINDEX_S" pos="0 0 -0.045">
                                                            <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                            <joint name="L_LINDEX" axis="1 0 0" range="-1.5708 0" armature="0.0039" />
                                                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_LINDEX_S_mesh" />
                                                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_LINDEX_S_vis" />
                                                        </body>
                                                    </body>
                                                    <body name="L_ULITTLE_S" pos="-0.025 0.006 -0.102">
                                                        <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                        <joint name="L_ULITTLE" axis="1 0 0" range="-1.5708 0" armature="0.0073" />
                                                        <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_ULITTLE_S_mesh" />
                                                        <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_ULITTLE_S_vis" />
                                                        <body name="L_LLITTLE_S" pos="0 0 -0.045">
                                                            <inertial pos="0 0 -0.015" mass="0.2" diaginertia="6.16667e-05 6.16667e-05 2.66667e-05" />
                                                            <joint name="L_LLITTLE" axis="1 0 0" range="-1.5708 0" armature="0.0039" />
                                                            <geom class="collision" quat="0.707105 0 0 0.707108" mesh="L_LLITTLE_S_mesh" />
                                                            <geom class="visual" quat="0.707105 0 0 0.707108" mesh="L_LLITTLE_S_vis" />
                                                        </body>
                                                    </body>
                                                </body>
                                            </body>
                                        </body>
                                    </body>
                                </body>
                            </body>
                        </body>
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
    <actuator>
        <!-- right leg -->
        <motor name="RHIP_P_motor" joint="R_HIP_P" />
        <motor name="RHIP_R_motor" joint="R_HIP_R" />
        <motor name="RHIP_Y_motor" joint="R_HIP_Y" />
        <motor name="RKNEE_motor" joint="R_KNEE" />
        <motor name="RANKLE_R_motor" joint="R_ANKLE_R" />
        <motor name="RANKLE_P_motor" joint="R_ANKLE_P" />
        <!-- left leg -->
        <motor name="LHIP_P_motor" joint="L_HIP_P" />
        <motor name="LHIP_R_motor" joint="L_HIP_R" />
        <motor name="LHIP_Y_motor" joint="L_HIP_Y" />
        <motor name="LKNEE_motor" joint="L_KNEE" />
        <motor name="LANKLE_R_motor" joint="L_ANKLE_R" />
        <motor name="LANKLE_P_motor" joint="L_ANKLE_P" />
        <!-- waist -->
        <motor name="WAIST_Y_motor" joint="WAIST_Y" />
        <motor name="WAIST_P_motor" joint="WAIST_P" />
        <motor name="WAIST_R_motor" joint="WAIST_R" />
        <!-- head -->
        <motor name="NECK_Y_motor" joint="NECK_Y" />
        <motor name="NECK_R_motor" joint="NECK_R" />
        <motor name="NECK_P_motor" joint="NECK_P" />
        <!-- right arm -->
        <motor name="R_SHOULDER_P_motor" joint="R_SHOULDER_P" />
        <motor name="R_SHOULDER_R_motor" joint="R_SHOULDER_R" />
        <motor name="R_SHOULDER_Y_motor" joint="R_SHOULDER_Y" />
        <motor name="R_ELBOW_P_motor" joint="R_ELBOW_P" />
        <motor name="R_ELBOW_Y_motor" joint="R_ELBOW_Y" />
        <motor name="R_WRIST_R_motor" joint="R_WRIST_R" />
        <motor name="R_WRIST_Y_motor" joint="R_WRIST_Y" />
        <motor name="R_UTHUMB_motor" joint="R_UTHUMB" />
        <motor name="R_LTHUMB_motor" joint="R_LTHUMB" />
        <motor name="R_UINDEX_motor" joint="R_UINDEX" />
        <motor name="R_LINDEX_motor" joint="R_LINDEX" />
        <motor name="R_ULITTLE_motor" joint="R_ULITTLE" />
        <motor name="R_LLITTLE_motor" joint="R_LLITTLE" />
        <!-- left arm -->
        <motor name="L_SHOULDER_P_motor" joint="L_SHOULDER_P" />
        <motor name="L_SHOULDER_R_motor" joint="L_SHOULDER_R" />
        <motor name="L_SHOULDER_Y_motor" joint="L_SHOULDER_Y" />
        <motor name="L_ELBOW_P_motor" joint="L_ELBOW_P" />
        <motor name="L_ELBOW_Y_motor" joint="L_ELBOW_Y" />
        <motor name="L_WRIST_R_motor" joint="L_WRIST_R" />
        <motor name="L_WRIST_Y_motor" joint="L_WRIST_Y" />
        <motor name="L_UTHUMB_motor" joint="L_UTHUMB" />
        <motor name="L_LTHUMB_motor" joint="L_LTHUMB" />
        <motor name="L_UINDEX_motor" joint="L_UINDEX" />
        <motor name="L_LINDEX_motor" joint="L_LINDEX" />
        <motor name="L_ULITTLE_motor" joint="L_ULITTLE" />
        <motor name="L_LLITTLE_motor" joint="L_LLITTLE" />
    </actuator>
    <sensor>
        <subtreecom body="PELVIS_S" name="subtreecom" />
        <subtreelinvel body="PELVIS_S" name="subtreelinvel" />
        <subtreeangmom body="PELVIS_S" name="subtreeangmom" />
        <!-- F/T sensors -->
        <!-- right foot -->
        <force name="RightFootForceSensor_fsensor" site="rf_force" />
        <torque name="RightFootForceSensor_tsensor" site="rf_force" />
        <!-- left foot -->
        <force name="LeftFootForceSensor_fsensor" site="lf_force" />
        <torque name="LeftFootForceSensor_tsensor" site="lf_force" />
        <!-- right hand -->
        <force name="RightHandForceSensor_fsensor" site="rh_force" />
        <torque name="RightHandForceSensor_tsensor" site="rh_force" />
        <!-- left hand -->
        <force name="LeftHandForceSensor_fsensor" site="lh_force" />
        <torque name="LeftHandForceSensor_tsensor" site="lh_force" />
        <!-- imu -->
        <gyro name="Accelerometer_gyro" site="imu" />
        <accelerometer name="Accelerometer_accelerometer" site="imu" />
    </sensor>
</mujoco>
