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					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geomback_right_leg_ant_2_1" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertionback_right_leg_ant_2_1" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertionback_right_leg_ant_2_1" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertionback_right_leg_ant_2_1" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertionback_right_leg_ant_2_1" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geomback_right_leg_ant_2_1" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_sideback_right_leg_ant_2_1" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_bodyback_right_leg_ant_2_1" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_jointback_right_leg_ant_2_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geomback_right_leg_ant_2_1" size="0.08" type="capsule"/>
						<site name="quad_l_insertionback_right_leg_ant_2_1" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertionback_right_leg_ant_2_1" pos="0.12 0.0 -0.08" size="0.04"/>
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				</body>
			</body>
		</body>
		<body name="torso_ant_2_2" pos="5.0 5.0 0.75">
			<camera mode="trackcom" name="track_ant_2_2" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
			<geom name="torso_geom_ant_2_2" pos="0 0 0" size="0.25" type="sphere"/>
			<joint armature="0" damping="0" limited="false" margin="0.01" name="root_ant_2_2" pos="0 0 0" type="free"/>
			<body name="front_right_leg_ant_2_2" pos="0 0 0" euler="0 0 0.0">
				<geom fromto="0 0 0 0.2 0 0" name="hip_geomfront_right_leg_ant_2_2" size="0.08" type="capsule"/>
				<site name="left_flex_hip_insertionfront_right_leg_ant_2_2" pos="0.020000000000000004 0.08 0.0" size="0.04"/>
				<site name="right_flex_hip_insertionfront_right_leg_ant_2_2" pos="0.020000000000000004 -0.08 0.0" size="0.04"/>
				<geom fromto="0.2 0.0 0.08 0.2 0.0 -0.08" name="hip_joint_geomfront_right_leg_ant_2_2" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
				<body name="thigh_bodyfront_right_leg_ant_2_2" pos="0.2 0 0">
					<joint axis="0 0 1" name="hip_jointfront_right_leg_ant_2_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geomfront_right_leg_ant_2_2" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertionfront_right_leg_ant_2_2" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertionfront_right_leg_ant_2_2" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertionfront_right_leg_ant_2_2" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertionfront_right_leg_ant_2_2" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geomfront_right_leg_ant_2_2" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_sidefront_right_leg_ant_2_2" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_bodyfront_right_leg_ant_2_2" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_jointfront_right_leg_ant_2_2" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geomfront_right_leg_ant_2_2" size="0.08" type="capsule"/>
						<site name="quad_l_insertionfront_right_leg_ant_2_2" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertionfront_right_leg_ant_2_2" pos="0.12 0.0 -0.08" size="0.04"/>
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				</body>
			</body>
			<body name="front_left_leg_ant_2_2" pos="0 0 0" euler="0 0 90">
				<geom fromto="0 0 0 0.2 0 0" name="hip_geomfront_left_leg_ant_2_2" size="0.08" type="capsule"/>
				<site name="left_flex_hip_insertionfront_left_leg_ant_2_2" pos="0.020000000000000004 0.08 0.0" size="0.04"/>
				<site name="right_flex_hip_insertionfront_left_leg_ant_2_2" pos="0.020000000000000004 -0.08 0.0" size="0.04"/>
				<geom fromto="0.2 0.0 0.08 0.2 0.0 -0.08" name="hip_joint_geomfront_left_leg_ant_2_2" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
				<body name="thigh_bodyfront_left_leg_ant_2_2" pos="0.2 0 0">
					<joint axis="0 0 1" name="hip_jointfront_left_leg_ant_2_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geomfront_left_leg_ant_2_2" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertionfront_left_leg_ant_2_2" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertionfront_left_leg_ant_2_2" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertionfront_left_leg_ant_2_2" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertionfront_left_leg_ant_2_2" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geomfront_left_leg_ant_2_2" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_sidefront_left_leg_ant_2_2" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_bodyfront_left_leg_ant_2_2" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_jointfront_left_leg_ant_2_2" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geomfront_left_leg_ant_2_2" size="0.08" type="capsule"/>
						<site name="quad_l_insertionfront_left_leg_ant_2_2" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertionfront_left_leg_ant_2_2" pos="0.12 0.0 -0.08" size="0.04"/>
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				</body>
			</body>
			<body name="back_left_leg_ant_2_2" pos="0 0 0" euler="0 0 180">
				<geom fromto="0 0 0 0.2 0 0" name="hip_geomback_left_leg_ant_2_2" size="0.08" type="capsule"/>
				<site name="left_flex_hip_insertionback_left_leg_ant_2_2" pos="0.020000000000000004 0.08 0.0" size="0.04"/>
				<site name="right_flex_hip_insertionback_left_leg_ant_2_2" pos="0.020000000000000004 -0.08 0.0" size="0.04"/>
				<geom fromto="0.2 0.0 0.08 0.2 0.0 -0.08" name="hip_joint_geomback_left_leg_ant_2_2" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
				<body name="thigh_bodyback_left_leg_ant_2_2" pos="0.2 0 0">
					<joint axis="0 0 1" name="hip_jointback_left_leg_ant_2_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geomback_left_leg_ant_2_2" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertionback_left_leg_ant_2_2" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertionback_left_leg_ant_2_2" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertionback_left_leg_ant_2_2" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertionback_left_leg_ant_2_2" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geomback_left_leg_ant_2_2" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_sideback_left_leg_ant_2_2" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_bodyback_left_leg_ant_2_2" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_jointback_left_leg_ant_2_2" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geomback_left_leg_ant_2_2" size="0.08" type="capsule"/>
						<site name="quad_l_insertionback_left_leg_ant_2_2" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertionback_left_leg_ant_2_2" pos="0.12 0.0 -0.08" size="0.04"/>
					</body>
				</body>
			</body>
			<body name="back_right_leg_ant_2_2" pos="0 0 0" euler="0 0 270">
				<geom fromto="0 0 0 0.2 0 0" name="hip_geomback_right_leg_ant_2_2" size="0.08" type="capsule"/>
				<site name="left_flex_hip_insertionback_right_leg_ant_2_2" pos="0.020000000000000004 0.08 0.0" size="0.04"/>
				<site name="right_flex_hip_insertionback_right_leg_ant_2_2" pos="0.020000000000000004 -0.08 0.0" size="0.04"/>
				<geom fromto="0.2 0.0 0.08 0.2 0.0 -0.08" name="hip_joint_geomback_right_leg_ant_2_2" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
				<body name="thigh_bodyback_right_leg_ant_2_2" pos="0.2 0 0">
					<joint axis="0 0 1" name="hip_jointback_right_leg_ant_2_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geomback_right_leg_ant_2_2" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertionback_right_leg_ant_2_2" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertionback_right_leg_ant_2_2" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertionback_right_leg_ant_2_2" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertionback_right_leg_ant_2_2" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geomback_right_leg_ant_2_2" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_sideback_right_leg_ant_2_2" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_bodyback_right_leg_ant_2_2" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_jointback_right_leg_ant_2_2" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geomback_right_leg_ant_2_2" size="0.08" type="capsule"/>
						<site name="quad_l_insertionback_right_leg_ant_2_2" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertionback_right_leg_ant_2_2" pos="0.12 0.0 -0.08" size="0.04"/>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
	<tendon>
		<spatial name="left_hip_flexfront_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_right_leg_ant_0_0"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_0_0"/>
			<site site="left_flex_thigh_insertionfront_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="right_hip_flexfront_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_right_leg_ant_0_0"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_0_0"/>
			<site site="right_flex_thigh_insertionfront_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="quadfront_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_right_leg_ant_0_0"/>
			<geom geom="knee_geomfront_right_leg_ant_0_0" sidesite="knee_top_sidefront_right_leg_ant_0_0"/>
			<site site="quad_l_insertionfront_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="hamstringfront_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_right_leg_ant_0_0"/>
			<geom geom="knee_geomfront_right_leg_ant_0_0"/>
			<site site="hamstring_l_insertionfront_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="left_hip_flexfront_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_left_leg_ant_0_0"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_0_0"/>
			<site site="left_flex_thigh_insertionfront_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="right_hip_flexfront_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_left_leg_ant_0_0"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_0_0"/>
			<site site="right_flex_thigh_insertionfront_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="quadfront_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_left_leg_ant_0_0"/>
			<geom geom="knee_geomfront_left_leg_ant_0_0" sidesite="knee_top_sidefront_left_leg_ant_0_0"/>
			<site site="quad_l_insertionfront_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="hamstringfront_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_left_leg_ant_0_0"/>
			<geom geom="knee_geomfront_left_leg_ant_0_0"/>
			<site site="hamstring_l_insertionfront_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="left_hip_flexback_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_left_leg_ant_0_0"/>
			<geom geom="hip_joint_geomback_left_leg_ant_0_0"/>
			<site site="left_flex_thigh_insertionback_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="right_hip_flexback_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_left_leg_ant_0_0"/>
			<geom geom="hip_joint_geomback_left_leg_ant_0_0"/>
			<site site="right_flex_thigh_insertionback_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="quadback_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_left_leg_ant_0_0"/>
			<geom geom="knee_geomback_left_leg_ant_0_0" sidesite="knee_top_sideback_left_leg_ant_0_0"/>
			<site site="quad_l_insertionback_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="hamstringback_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_left_leg_ant_0_0"/>
			<geom geom="knee_geomback_left_leg_ant_0_0"/>
			<site site="hamstring_l_insertionback_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="left_hip_flexback_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_right_leg_ant_0_0"/>
			<geom geom="hip_joint_geomback_right_leg_ant_0_0"/>
			<site site="left_flex_thigh_insertionback_right_leg_ant_0_0"/>
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		<spatial name="right_hip_flexback_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_right_leg_ant_0_0"/>
			<geom geom="hip_joint_geomback_right_leg_ant_0_0"/>
			<site site="right_flex_thigh_insertionback_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="quadback_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_right_leg_ant_0_0"/>
			<geom geom="knee_geomback_right_leg_ant_0_0" sidesite="knee_top_sideback_right_leg_ant_0_0"/>
			<site site="quad_l_insertionback_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="hamstringback_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_right_leg_ant_0_0"/>
			<geom geom="knee_geomback_right_leg_ant_0_0"/>
			<site site="hamstring_l_insertionback_right_leg_ant_0_0"/>
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		<spatial name="left_hip_flexfront_right_leg_ant_0_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_right_leg_ant_0_1"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_0_1"/>
			<site site="left_flex_thigh_insertionfront_right_leg_ant_0_1"/>
		</spatial>
		<spatial name="right_hip_flexfront_right_leg_ant_0_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_right_leg_ant_0_1"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_0_1"/>
			<site site="right_flex_thigh_insertionfront_right_leg_ant_0_1"/>
		</spatial>
		<spatial name="quadfront_right_leg_ant_0_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_right_leg_ant_0_1"/>
			<geom geom="knee_geomfront_right_leg_ant_0_1" sidesite="knee_top_sidefront_right_leg_ant_0_1"/>
			<site site="quad_l_insertionfront_right_leg_ant_0_1"/>
		</spatial>
		<spatial name="hamstringfront_right_leg_ant_0_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_right_leg_ant_0_1"/>
			<geom geom="knee_geomfront_right_leg_ant_0_1"/>
			<site site="hamstring_l_insertionfront_right_leg_ant_0_1"/>
		</spatial>
		<spatial name="left_hip_flexfront_left_leg_ant_0_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_left_leg_ant_0_1"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_0_1"/>
			<site site="left_flex_thigh_insertionfront_left_leg_ant_0_1"/>
		</spatial>
		<spatial name="right_hip_flexfront_left_leg_ant_0_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_left_leg_ant_0_1"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_0_1"/>
			<site site="right_flex_thigh_insertionfront_left_leg_ant_0_1"/>
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		<spatial name="quadfront_left_leg_ant_0_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_left_leg_ant_0_1"/>
			<geom geom="knee_geomfront_left_leg_ant_0_1" sidesite="knee_top_sidefront_left_leg_ant_0_1"/>
			<site site="quad_l_insertionfront_left_leg_ant_0_1"/>
		</spatial>
		<spatial name="hamstringfront_left_leg_ant_0_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_left_leg_ant_0_1"/>
			<geom geom="knee_geomfront_left_leg_ant_0_1"/>
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			<site site="left_flex_hip_insertionfront_right_leg_ant_1_2"/>
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			<site site="right_flex_hip_insertionfront_right_leg_ant_1_2"/>
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			<site site="right_flex_thigh_insertionfront_right_leg_ant_1_2"/>
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		<spatial name="quadfront_right_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_right_leg_ant_1_2"/>
			<geom geom="knee_geomfront_right_leg_ant_1_2" sidesite="knee_top_sidefront_right_leg_ant_1_2"/>
			<site site="quad_l_insertionfront_right_leg_ant_1_2"/>
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		<spatial name="hamstringfront_right_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_right_leg_ant_1_2"/>
			<geom geom="knee_geomfront_right_leg_ant_1_2"/>
			<site site="hamstring_l_insertionfront_right_leg_ant_1_2"/>
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		<spatial name="left_hip_flexfront_left_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_left_leg_ant_1_2"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_1_2"/>
			<site site="left_flex_thigh_insertionfront_left_leg_ant_1_2"/>
		</spatial>
		<spatial name="right_hip_flexfront_left_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_left_leg_ant_1_2"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_1_2"/>
			<site site="right_flex_thigh_insertionfront_left_leg_ant_1_2"/>
		</spatial>
		<spatial name="quadfront_left_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_left_leg_ant_1_2"/>
			<geom geom="knee_geomfront_left_leg_ant_1_2" sidesite="knee_top_sidefront_left_leg_ant_1_2"/>
			<site site="quad_l_insertionfront_left_leg_ant_1_2"/>
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		<spatial name="hamstringfront_left_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_left_leg_ant_1_2"/>
			<geom geom="knee_geomfront_left_leg_ant_1_2"/>
			<site site="hamstring_l_insertionfront_left_leg_ant_1_2"/>
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		<spatial name="left_hip_flexback_left_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_left_leg_ant_1_2"/>
			<geom geom="hip_joint_geomback_left_leg_ant_1_2"/>
			<site site="left_flex_thigh_insertionback_left_leg_ant_1_2"/>
		</spatial>
		<spatial name="right_hip_flexback_left_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_left_leg_ant_1_2"/>
			<geom geom="hip_joint_geomback_left_leg_ant_1_2"/>
			<site site="right_flex_thigh_insertionback_left_leg_ant_1_2"/>
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		<spatial name="quadback_left_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_left_leg_ant_1_2"/>
			<geom geom="knee_geomback_left_leg_ant_1_2" sidesite="knee_top_sideback_left_leg_ant_1_2"/>
			<site site="quad_l_insertionback_left_leg_ant_1_2"/>
		</spatial>
		<spatial name="hamstringback_left_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_left_leg_ant_1_2"/>
			<geom geom="knee_geomback_left_leg_ant_1_2"/>
			<site site="hamstring_l_insertionback_left_leg_ant_1_2"/>
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		<spatial name="left_hip_flexback_right_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_right_leg_ant_1_2"/>
			<geom geom="hip_joint_geomback_right_leg_ant_1_2"/>
			<site site="left_flex_thigh_insertionback_right_leg_ant_1_2"/>
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		<spatial name="right_hip_flexback_right_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_right_leg_ant_1_2"/>
			<geom geom="hip_joint_geomback_right_leg_ant_1_2"/>
			<site site="right_flex_thigh_insertionback_right_leg_ant_1_2"/>
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		<spatial name="quadback_right_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_right_leg_ant_1_2"/>
			<geom geom="knee_geomback_right_leg_ant_1_2" sidesite="knee_top_sideback_right_leg_ant_1_2"/>
			<site site="quad_l_insertionback_right_leg_ant_1_2"/>
		</spatial>
		<spatial name="hamstringback_right_leg_ant_1_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_right_leg_ant_1_2"/>
			<geom geom="knee_geomback_right_leg_ant_1_2"/>
			<site site="hamstring_l_insertionback_right_leg_ant_1_2"/>
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		<spatial name="left_hip_flexfront_right_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_right_leg_ant_2_0"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_2_0"/>
			<site site="left_flex_thigh_insertionfront_right_leg_ant_2_0"/>
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		<spatial name="right_hip_flexfront_right_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_right_leg_ant_2_0"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_2_0"/>
			<site site="right_flex_thigh_insertionfront_right_leg_ant_2_0"/>
		</spatial>
		<spatial name="quadfront_right_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_right_leg_ant_2_0"/>
			<geom geom="knee_geomfront_right_leg_ant_2_0" sidesite="knee_top_sidefront_right_leg_ant_2_0"/>
			<site site="quad_l_insertionfront_right_leg_ant_2_0"/>
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		<spatial name="hamstringfront_right_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_right_leg_ant_2_0"/>
			<geom geom="knee_geomfront_right_leg_ant_2_0"/>
			<site site="hamstring_l_insertionfront_right_leg_ant_2_0"/>
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		<spatial name="left_hip_flexfront_left_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_left_leg_ant_2_0"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_2_0"/>
			<site site="left_flex_thigh_insertionfront_left_leg_ant_2_0"/>
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		<spatial name="right_hip_flexfront_left_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_left_leg_ant_2_0"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_2_0"/>
			<site site="right_flex_thigh_insertionfront_left_leg_ant_2_0"/>
		</spatial>
		<spatial name="quadfront_left_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_left_leg_ant_2_0"/>
			<geom geom="knee_geomfront_left_leg_ant_2_0" sidesite="knee_top_sidefront_left_leg_ant_2_0"/>
			<site site="quad_l_insertionfront_left_leg_ant_2_0"/>
		</spatial>
		<spatial name="hamstringfront_left_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_left_leg_ant_2_0"/>
			<geom geom="knee_geomfront_left_leg_ant_2_0"/>
			<site site="hamstring_l_insertionfront_left_leg_ant_2_0"/>
		</spatial>
		<spatial name="left_hip_flexback_left_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_left_leg_ant_2_0"/>
			<geom geom="hip_joint_geomback_left_leg_ant_2_0"/>
			<site site="left_flex_thigh_insertionback_left_leg_ant_2_0"/>
		</spatial>
		<spatial name="right_hip_flexback_left_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_left_leg_ant_2_0"/>
			<geom geom="hip_joint_geomback_left_leg_ant_2_0"/>
			<site site="right_flex_thigh_insertionback_left_leg_ant_2_0"/>
		</spatial>
		<spatial name="quadback_left_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_left_leg_ant_2_0"/>
			<geom geom="knee_geomback_left_leg_ant_2_0" sidesite="knee_top_sideback_left_leg_ant_2_0"/>
			<site site="quad_l_insertionback_left_leg_ant_2_0"/>
		</spatial>
		<spatial name="hamstringback_left_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_left_leg_ant_2_0"/>
			<geom geom="knee_geomback_left_leg_ant_2_0"/>
			<site site="hamstring_l_insertionback_left_leg_ant_2_0"/>
		</spatial>
		<spatial name="left_hip_flexback_right_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_right_leg_ant_2_0"/>
			<geom geom="hip_joint_geomback_right_leg_ant_2_0"/>
			<site site="left_flex_thigh_insertionback_right_leg_ant_2_0"/>
		</spatial>
		<spatial name="right_hip_flexback_right_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_right_leg_ant_2_0"/>
			<geom geom="hip_joint_geomback_right_leg_ant_2_0"/>
			<site site="right_flex_thigh_insertionback_right_leg_ant_2_0"/>
		</spatial>
		<spatial name="quadback_right_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_right_leg_ant_2_0"/>
			<geom geom="knee_geomback_right_leg_ant_2_0" sidesite="knee_top_sideback_right_leg_ant_2_0"/>
			<site site="quad_l_insertionback_right_leg_ant_2_0"/>
		</spatial>
		<spatial name="hamstringback_right_leg_ant_2_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_right_leg_ant_2_0"/>
			<geom geom="knee_geomback_right_leg_ant_2_0"/>
			<site site="hamstring_l_insertionback_right_leg_ant_2_0"/>
		</spatial>
		<spatial name="left_hip_flexfront_right_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_right_leg_ant_2_1"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_2_1"/>
			<site site="left_flex_thigh_insertionfront_right_leg_ant_2_1"/>
		</spatial>
		<spatial name="right_hip_flexfront_right_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_right_leg_ant_2_1"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_2_1"/>
			<site site="right_flex_thigh_insertionfront_right_leg_ant_2_1"/>
		</spatial>
		<spatial name="quadfront_right_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_right_leg_ant_2_1"/>
			<geom geom="knee_geomfront_right_leg_ant_2_1" sidesite="knee_top_sidefront_right_leg_ant_2_1"/>
			<site site="quad_l_insertionfront_right_leg_ant_2_1"/>
		</spatial>
		<spatial name="hamstringfront_right_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_right_leg_ant_2_1"/>
			<geom geom="knee_geomfront_right_leg_ant_2_1"/>
			<site site="hamstring_l_insertionfront_right_leg_ant_2_1"/>
		</spatial>
		<spatial name="left_hip_flexfront_left_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_left_leg_ant_2_1"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_2_1"/>
			<site site="left_flex_thigh_insertionfront_left_leg_ant_2_1"/>
		</spatial>
		<spatial name="right_hip_flexfront_left_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_left_leg_ant_2_1"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_2_1"/>
			<site site="right_flex_thigh_insertionfront_left_leg_ant_2_1"/>
		</spatial>
		<spatial name="quadfront_left_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_left_leg_ant_2_1"/>
			<geom geom="knee_geomfront_left_leg_ant_2_1" sidesite="knee_top_sidefront_left_leg_ant_2_1"/>
			<site site="quad_l_insertionfront_left_leg_ant_2_1"/>
		</spatial>
		<spatial name="hamstringfront_left_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_left_leg_ant_2_1"/>
			<geom geom="knee_geomfront_left_leg_ant_2_1"/>
			<site site="hamstring_l_insertionfront_left_leg_ant_2_1"/>
		</spatial>
		<spatial name="left_hip_flexback_left_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_left_leg_ant_2_1"/>
			<geom geom="hip_joint_geomback_left_leg_ant_2_1"/>
			<site site="left_flex_thigh_insertionback_left_leg_ant_2_1"/>
		</spatial>
		<spatial name="right_hip_flexback_left_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_left_leg_ant_2_1"/>
			<geom geom="hip_joint_geomback_left_leg_ant_2_1"/>
			<site site="right_flex_thigh_insertionback_left_leg_ant_2_1"/>
		</spatial>
		<spatial name="quadback_left_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_left_leg_ant_2_1"/>
			<geom geom="knee_geomback_left_leg_ant_2_1" sidesite="knee_top_sideback_left_leg_ant_2_1"/>
			<site site="quad_l_insertionback_left_leg_ant_2_1"/>
		</spatial>
		<spatial name="hamstringback_left_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_left_leg_ant_2_1"/>
			<geom geom="knee_geomback_left_leg_ant_2_1"/>
			<site site="hamstring_l_insertionback_left_leg_ant_2_1"/>
		</spatial>
		<spatial name="left_hip_flexback_right_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_right_leg_ant_2_1"/>
			<geom geom="hip_joint_geomback_right_leg_ant_2_1"/>
			<site site="left_flex_thigh_insertionback_right_leg_ant_2_1"/>
		</spatial>
		<spatial name="right_hip_flexback_right_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_right_leg_ant_2_1"/>
			<geom geom="hip_joint_geomback_right_leg_ant_2_1"/>
			<site site="right_flex_thigh_insertionback_right_leg_ant_2_1"/>
		</spatial>
		<spatial name="quadback_right_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_right_leg_ant_2_1"/>
			<geom geom="knee_geomback_right_leg_ant_2_1" sidesite="knee_top_sideback_right_leg_ant_2_1"/>
			<site site="quad_l_insertionback_right_leg_ant_2_1"/>
		</spatial>
		<spatial name="hamstringback_right_leg_ant_2_1" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_right_leg_ant_2_1"/>
			<geom geom="knee_geomback_right_leg_ant_2_1"/>
			<site site="hamstring_l_insertionback_right_leg_ant_2_1"/>
		</spatial>
		<spatial name="left_hip_flexfront_right_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_right_leg_ant_2_2"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_2_2"/>
			<site site="left_flex_thigh_insertionfront_right_leg_ant_2_2"/>
		</spatial>
		<spatial name="right_hip_flexfront_right_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_right_leg_ant_2_2"/>
			<geom geom="hip_joint_geomfront_right_leg_ant_2_2"/>
			<site site="right_flex_thigh_insertionfront_right_leg_ant_2_2"/>
		</spatial>
		<spatial name="quadfront_right_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_right_leg_ant_2_2"/>
			<geom geom="knee_geomfront_right_leg_ant_2_2" sidesite="knee_top_sidefront_right_leg_ant_2_2"/>
			<site site="quad_l_insertionfront_right_leg_ant_2_2"/>
		</spatial>
		<spatial name="hamstringfront_right_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_right_leg_ant_2_2"/>
			<geom geom="knee_geomfront_right_leg_ant_2_2"/>
			<site site="hamstring_l_insertionfront_right_leg_ant_2_2"/>
		</spatial>
		<spatial name="left_hip_flexfront_left_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionfront_left_leg_ant_2_2"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_2_2"/>
			<site site="left_flex_thigh_insertionfront_left_leg_ant_2_2"/>
		</spatial>
		<spatial name="right_hip_flexfront_left_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionfront_left_leg_ant_2_2"/>
			<geom geom="hip_joint_geomfront_left_leg_ant_2_2"/>
			<site site="right_flex_thigh_insertionfront_left_leg_ant_2_2"/>
		</spatial>
		<spatial name="quadfront_left_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionfront_left_leg_ant_2_2"/>
			<geom geom="knee_geomfront_left_leg_ant_2_2" sidesite="knee_top_sidefront_left_leg_ant_2_2"/>
			<site site="quad_l_insertionfront_left_leg_ant_2_2"/>
		</spatial>
		<spatial name="hamstringfront_left_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionfront_left_leg_ant_2_2"/>
			<geom geom="knee_geomfront_left_leg_ant_2_2"/>
			<site site="hamstring_l_insertionfront_left_leg_ant_2_2"/>
		</spatial>
		<spatial name="left_hip_flexback_left_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_left_leg_ant_2_2"/>
			<geom geom="hip_joint_geomback_left_leg_ant_2_2"/>
			<site site="left_flex_thigh_insertionback_left_leg_ant_2_2"/>
		</spatial>
		<spatial name="right_hip_flexback_left_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_left_leg_ant_2_2"/>
			<geom geom="hip_joint_geomback_left_leg_ant_2_2"/>
			<site site="right_flex_thigh_insertionback_left_leg_ant_2_2"/>
		</spatial>
		<spatial name="quadback_left_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_left_leg_ant_2_2"/>
			<geom geom="knee_geomback_left_leg_ant_2_2" sidesite="knee_top_sideback_left_leg_ant_2_2"/>
			<site site="quad_l_insertionback_left_leg_ant_2_2"/>
		</spatial>
		<spatial name="hamstringback_left_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_left_leg_ant_2_2"/>
			<geom geom="knee_geomback_left_leg_ant_2_2"/>
			<site site="hamstring_l_insertionback_left_leg_ant_2_2"/>
		</spatial>
		<spatial name="left_hip_flexback_right_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertionback_right_leg_ant_2_2"/>
			<geom geom="hip_joint_geomback_right_leg_ant_2_2"/>
			<site site="left_flex_thigh_insertionback_right_leg_ant_2_2"/>
		</spatial>
		<spatial name="right_hip_flexback_right_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertionback_right_leg_ant_2_2"/>
			<geom geom="hip_joint_geomback_right_leg_ant_2_2"/>
			<site site="right_flex_thigh_insertionback_right_leg_ant_2_2"/>
		</spatial>
		<spatial name="quadback_right_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertionback_right_leg_ant_2_2"/>
			<geom geom="knee_geomback_right_leg_ant_2_2" sidesite="knee_top_sideback_right_leg_ant_2_2"/>
			<site site="quad_l_insertionback_right_leg_ant_2_2"/>
		</spatial>
		<spatial name="hamstringback_right_leg_ant_2_2" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertionback_right_leg_ant_2_2"/>
			<geom geom="knee_geomback_right_leg_ant_2_2"/>
			<site site="hamstring_l_insertionback_right_leg_ant_2_2"/>
		</spatial>
	</tendon>
	<actuator>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_0_0" tendon="quadfront_right_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_0_0" tendon="hamstringfront_right_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_0_0" tendon="right_hip_flexfront_right_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_0_0" tendon="left_hip_flexfront_right_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_0_0" tendon="quadfront_left_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_0_0" tendon="hamstringfront_left_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_0_0" tendon="right_hip_flexfront_left_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_0_0" tendon="left_hip_flexfront_left_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_0_0" tendon="quadback_left_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_0_0" tendon="hamstringback_left_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_0_0" tendon="right_hip_flexback_left_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_0_0" tendon="left_hip_flexback_left_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_0_0" tendon="quadback_right_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_0_0" tendon="hamstringback_right_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_0_0" tendon="right_hip_flexback_right_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_0_0" tendon="left_hip_flexback_right_leg_ant_0_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_0_1" tendon="quadfront_right_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_0_1" tendon="hamstringfront_right_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_0_1" tendon="right_hip_flexfront_right_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_0_1" tendon="left_hip_flexfront_right_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_0_1" tendon="quadfront_left_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_0_1" tendon="hamstringfront_left_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_0_1" tendon="right_hip_flexfront_left_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_0_1" tendon="left_hip_flexfront_left_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_0_1" tendon="quadback_left_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_0_1" tendon="hamstringback_left_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_0_1" tendon="right_hip_flexback_left_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_0_1" tendon="left_hip_flexback_left_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_0_1" tendon="quadback_right_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_0_1" tendon="hamstringback_right_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_0_1" tendon="right_hip_flexback_right_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_0_1" tendon="left_hip_flexback_right_leg_ant_0_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_0_2" tendon="quadfront_right_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_0_2" tendon="hamstringfront_right_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_0_2" tendon="right_hip_flexfront_right_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_0_2" tendon="left_hip_flexfront_right_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_0_2" tendon="quadfront_left_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_0_2" tendon="hamstringfront_left_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_0_2" tendon="right_hip_flexfront_left_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_0_2" tendon="left_hip_flexfront_left_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_0_2" tendon="quadback_left_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_0_2" tendon="hamstringback_left_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_0_2" tendon="right_hip_flexback_left_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_0_2" tendon="left_hip_flexback_left_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_0_2" tendon="quadback_right_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_0_2" tendon="hamstringback_right_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_0_2" tendon="right_hip_flexback_right_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_0_2" tendon="left_hip_flexback_right_leg_ant_0_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_1_0" tendon="quadfront_right_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_1_0" tendon="hamstringfront_right_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_1_0" tendon="right_hip_flexfront_right_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_1_0" tendon="left_hip_flexfront_right_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_1_0" tendon="quadfront_left_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_1_0" tendon="hamstringfront_left_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_1_0" tendon="right_hip_flexfront_left_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_1_0" tendon="left_hip_flexfront_left_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_1_0" tendon="quadback_left_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_1_0" tendon="hamstringback_left_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_1_0" tendon="right_hip_flexback_left_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_1_0" tendon="left_hip_flexback_left_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_1_0" tendon="quadback_right_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_1_0" tendon="hamstringback_right_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_1_0" tendon="right_hip_flexback_right_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_1_0" tendon="left_hip_flexback_right_leg_ant_1_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_1_1" tendon="quadfront_right_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_1_1" tendon="hamstringfront_right_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_1_1" tendon="right_hip_flexfront_right_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_1_1" tendon="left_hip_flexfront_right_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_1_1" tendon="quadfront_left_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_1_1" tendon="hamstringfront_left_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_1_1" tendon="right_hip_flexfront_left_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_1_1" tendon="left_hip_flexfront_left_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_1_1" tendon="quadback_left_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_1_1" tendon="hamstringback_left_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_1_1" tendon="right_hip_flexback_left_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_1_1" tendon="left_hip_flexback_left_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_1_1" tendon="quadback_right_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_1_1" tendon="hamstringback_right_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_1_1" tendon="right_hip_flexback_right_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_1_1" tendon="left_hip_flexback_right_leg_ant_1_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_1_2" tendon="quadfront_right_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_1_2" tendon="hamstringfront_right_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_1_2" tendon="right_hip_flexfront_right_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_1_2" tendon="left_hip_flexfront_right_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_1_2" tendon="quadfront_left_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_1_2" tendon="hamstringfront_left_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_1_2" tendon="right_hip_flexfront_left_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_1_2" tendon="left_hip_flexfront_left_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_1_2" tendon="quadback_left_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_1_2" tendon="hamstringback_left_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_1_2" tendon="right_hip_flexback_left_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_1_2" tendon="left_hip_flexback_left_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_1_2" tendon="quadback_right_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_1_2" tendon="hamstringback_right_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_1_2" tendon="right_hip_flexback_right_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_1_2" tendon="left_hip_flexback_right_leg_ant_1_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_2_0" tendon="quadfront_right_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_2_0" tendon="hamstringfront_right_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_2_0" tendon="right_hip_flexfront_right_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_2_0" tendon="left_hip_flexfront_right_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_2_0" tendon="quadfront_left_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_2_0" tendon="hamstringfront_left_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_2_0" tendon="right_hip_flexfront_left_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_2_0" tendon="left_hip_flexfront_left_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_2_0" tendon="quadback_left_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_2_0" tendon="hamstringback_left_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_2_0" tendon="right_hip_flexback_left_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_2_0" tendon="left_hip_flexback_left_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_2_0" tendon="quadback_right_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_2_0" tendon="hamstringback_right_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_2_0" tendon="right_hip_flexback_right_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_2_0" tendon="left_hip_flexback_right_leg_ant_2_0"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_2_1" tendon="quadfront_right_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_2_1" tendon="hamstringfront_right_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_2_1" tendon="right_hip_flexfront_right_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_2_1" tendon="left_hip_flexfront_right_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_2_1" tendon="quadfront_left_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_2_1" tendon="hamstringfront_left_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_2_1" tendon="right_hip_flexfront_left_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_2_1" tendon="left_hip_flexfront_left_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_2_1" tendon="quadback_left_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_2_1" tendon="hamstringback_left_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_2_1" tendon="right_hip_flexback_left_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_2_1" tendon="left_hip_flexback_left_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_2_1" tendon="quadback_right_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_2_1" tendon="hamstringback_right_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_2_1" tendon="right_hip_flexback_right_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_2_1" tendon="left_hip_flexback_right_leg_ant_2_1"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_right_leg_ant_2_2" tendon="quadfront_right_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_right_leg_ant_2_2" tendon="hamstringfront_right_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_right_leg_ant_2_2" tendon="right_hip_flexfront_right_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_right_leg_ant_2_2" tendon="left_hip_flexfront_right_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actfront_left_leg_ant_2_2" tendon="quadfront_left_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actfront_left_leg_ant_2_2" tendon="hamstringfront_left_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actfront_left_leg_ant_2_2" tendon="right_hip_flexfront_left_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actfront_left_leg_ant_2_2" tendon="left_hip_flexfront_left_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_left_leg_ant_2_2" tendon="quadback_left_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_left_leg_ant_2_2" tendon="hamstringback_left_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_left_leg_ant_2_2" tendon="right_hip_flexback_left_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_left_leg_ant_2_2" tendon="left_hip_flexback_left_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="quad_actback_right_leg_ant_2_2" tendon="quadback_right_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="hamstring_actback_right_leg_ant_2_2" tendon="hamstringback_right_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="right_hip_flex_actback_right_leg_ant_2_2" tendon="right_hip_flexback_right_leg_ant_2_2"/>
		<general ctrllimited="true" ctrlrange="0 1" gainprm="50" name="left_hip_flex_actback_right_leg_ant_2_2" tendon="left_hip_flexback_right_leg_ant_2_2"/>
	</actuator>
</mujoco>