<!-- This model has been rescaled and better supports the incorporation of hands. -->
<mujoco model="humanoid_CMU">
  <compiler angle="radian"/>
  <asset>
    <material name="self" rgba=".7 .5 .3 1"/>
  </asset>

  <default>
    <joint limited="true" solimplimit="0 0.99 0.01" stiffness="1" armature=".01" damping="1"/>
    <geom size="0.03 0 0" condim="1" friction="0.7 0.005 0.0001" solref="0.015 1" solimp="0.99 0.99 0.003"/>
    <general ctrllimited="true" ctrlrange="-1 1"/>
    <default class="humanoid">
      <geom type="capsule" material="self" group="2"/>
      <default class="stiff_medium">
        <joint stiffness="10" damping="2"/>
      </default>
      <default class="stiff_medium_higher">
        <joint stiffness="50" damping="4"/>
      </default>
      <default class="stiff_high">
        <joint stiffness="200" damping="5"/>
      </default>
      <default class="sensor_site">
        <site type="sphere" size="0.01" group="4" rgba="1 0 0 .5"/>
      </default>
      <default class="contact">
        <geom condim="3" friction="1. 0.005 0.0001" solref="0.015 1" solimp="0.98 0.98 0.001" priority="1"/>
      </default>
    </default>
  </default>

  <worldbody>
    <light name="tracking_light" pos="0 0 7" dir="0 0 -1" mode="trackcom"/>
    <camera name="back" pos="0 3 1.4" xyaxes="-1 0 0 0 -1 2" mode="trackcom"/>
    <camera name="side" pos="-3 0 1.4" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
    <camera name="front_side" pos="-2 -2 0.5" xyaxes="0.5 -0.5 0 0.1 0.1 1"  mode="trackcom"/>
    <body name="root" childclass="humanoid">
      <camera name="bodycam" pos="0 .3 .1" xyaxes="-1 0 0 0 1 0" fovy="80"/>
      <site name="root" size=".01" rgba="0.5 0.5 0.5 0"/>
      <geom name="root_geom" size="0.1 0.07" pos="0 -0.05 0" quat="1 0 -1 0"/>
      <body name="lhipjoint">
        <geom name="lhipjoint" size="0.008 0.02187363" pos="0.0509685 -0.0459037 0.024723" quat="0.5708 -0.566602 -0.594264 0"/>
        <body name="lfemur" pos="0.101937 -0.0918074 0.0494461" quat="0.984808 0 0 0.173648">
          <joint name="lfemurrz" pos="0 0 0" axis="0 0 1" range="-1.0472 1.22173" class="stiff_medium"/>
          <joint name="lfemurry" pos="0 0 0" axis="0 1 0" range="-1.22173 1.22173" class="stiff_medium"/>
          <joint name="lfemurrx" pos="0 0 0" axis="1 0 0" range="-0.349066 2.79253" class="stiff_medium"/>
          <geom name="lfemur_upper" size="0.085 0.083" pos="0 -0.115473 0" quat="0.696364 -0.696364 -0.122788 -0.122788" mass="0"/>
          <geom name="lfemur" size="0.07 0.182226" pos="0 -0.202473 0" quat="0.696364 -0.696364 -0.122788 -0.122788" />
          <body name="ltibia" pos="0 -0.404945 0">
            <joint name="ltibiarx" pos="0 0 0" axis="1 0 0" range="0.01 2.96706"/>
            <geom name="ltibia" size="0.04 0.1825614" pos="0 -0.202846 0" quat="0.696364 -0.696364 -0.122788 -0.122788"/>
            <body name="lfoot" pos="0 -0.415693 0" quat="1 -1 0 0">
              <site name="lfoot_touch" type="capsule" pos="0.0 0.02 -0.015" size="0.025 0.01" zaxis="1 0 0" class="sensor_site"/>
              <joint name="lfootrz" pos="0 0 0" axis="0 0 1" range="-1.22173 0.349066" class="stiff_medium"/>
              <joint name="lfootrx" pos="0 0 0" axis="1 0 0" range="-0.785398 0.8" class="stiff_medium"/>
              <geom name="lfoot" size="0.025 0.08" pos="-0.0269999975006 -0.05 -0.0113878" quat=" 0.76725516 -0.64051114  0.02306487 -0.02306583" class="contact"/>
              <geom name="lfoot_ch" size="0.025 0.08" pos="0.0270000024994 -0.05 -0.0113878" quat=" 0.72887266 -0.59399462 -0.24074283 -0.2407425 " class="contact"/>
              <body name="ltoes" pos="0 -0.156372 -0.0227756">
                <joint name="ltoesrx" pos="0 0 0" axis="1 0 0" range="-1.5708 0.349066"/>
                <geom name="ltoes0" type="sphere" size="0.025" pos="0 -0.01 -.01" class="contact"/>
                <geom name="ltoes1" type="sphere" size="0.025" pos=".03 -0.01 -.01" class="contact"/>
                <geom name="ltoes2" type="sphere" size="0.025" pos="-.03 -0.01 -.01" class="contact"/>
                <site name="ltoes_touch" type="capsule" pos="0.0 -0.01 -0.02" size="0.025 0.03" zaxis="1 0 0" class="sensor_site"/>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="rhipjoint">
        <geom name="rhipjoint" size="0.008 0.02187363" pos="-0.0509685 -0.0459037 0.024723" quat="0.574856 -0.547594 0.608014 0"/>
        <body name="rfemur" pos="-0.101937 -0.0918074 0.0494461" quat="0.984808 0 0 -0.173648">
          <joint name="rfemurrz" pos="0 0 0" axis="0 0 1" range="-1.22173 1.0472" class="stiff_medium"/>
          <joint name="rfemurry" pos="0 0 0" axis="0 1 0" range="-1.22173 1.22173" class="stiff_medium"/>
          <joint name="rfemurrx" pos="0 0 0" axis="1 0 0" range="-2.79253 0.349066" class="stiff_medium"/>
          <geom name="rfemur_upper" size="0.085 0.083" pos="0 -0.115473 0" quat="0.696364 -0.696364 0.122788 0.122788" mass="0"/>
          <geom name="rfemur" size="0.07 0.182226" pos="0 -0.202473 0" quat="0.696364 -0.696364 0.122788 0.122788" />
          <body name="rtibia" pos="0 -0.404945 0">
            <joint name="rtibiarx" pos="0 0 0" axis="1 0 0" range="0.01 2.96706"/>
            <geom name="rtibia" size="0.04 0.1825614" pos="0 -0.202846 0" quat="0.696364 -0.696364 0.122788 0.122788"/>
            <body name="rfoot" pos="0 -0.415693 0" quat="0.707107 -0.707107 0 0">
              <site name="rfoot_touch" type="capsule" pos="0.0 0.02 -0.015" size="0.025 0.01" zaxis="1 0 0" class="sensor_site"/>
              <joint name="rfootrz" pos="0 0 0" axis="0 0 1" range="-0.349066 1.22173" class="stiff_medium"/>
              <joint name="rfootrx" pos="0 0 0" axis="1 0 0" range="-0.785398 .8" class="stiff_medium"/>
              <geom name="rfoot" size="0.025 0.08" pos="-0.0269999965316 -0.05 -0.0113878" quat=" 0.73520687 -0.58633523  0.24050108  0.24050079" class="contact"/>
              <geom name="rfoot_ch" size="0.025 0.08" pos="0.0270000034684 -0.05 -0.0113878" quat=" 0.77312469 -0.633231   -0.02545846  0.02545836" class="contact"/>
              <body name="rtoes" pos="0 -0.156372 -0.0227756">
                <joint name="rtoesrx" pos="0 0 0" axis="1 0 0" range="-1.5708 0.349066"/>
                <geom name="rtoes0" type="sphere" size="0.025" pos="0 -0.01 -.01" class="contact"/>
                <geom name="rtoes1" type="sphere" size="0.025" pos=".03 -0.01 -.01" class="contact"/>
                <geom name="rtoes2" type="sphere" size="0.025" pos="-.03 -0.01 -.01" class="contact"/>
                <site name="rtoes_touch" type="capsule" pos="0.0 -0.01 -0.02" size="0.025 0.03" zaxis="1 0 0" class="sensor_site"/>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="lowerback">
        <joint name="lowerbackrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_high"/>
        <joint name="lowerbackry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_high"/>
        <joint name="lowerbackrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium"/>
        <geom name="lowerback" size="0.085 0.04540016" pos="0.00282931 0.0566065 0.01" quat="1 0 1 0"/>
        <body name="upperback" pos="0.000565862 0.113213 -0.00805298">
          <joint name="upperbackrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_high"/>
          <joint name="upperbackry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_high"/>
          <joint name="upperbackrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium"/>
          <geom name="upperback" size="0.09 0.04542616" pos="0.000256264 0.0567802 0.02" quat="1 0 1 0"/>
          <body name="thorax" pos="0.000512528 0.11356 0.000936821">
            <joint name="thoraxrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_high"/>
            <joint name="thoraxry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_high"/>
            <joint name="thoraxrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium"/>
            <geom name="thorax" size="0.095 0.0570206" pos="0 0.0569725 0.02" quat="1 0 1 0"/>
            <body name="lowerneck" pos="0 0.113945 0.00468037">
              <joint name="lowerneckrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_medium_higher"/>
              <joint name="lowerneckry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_medium_higher"/>
              <joint name="lowerneckrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium_higher"/>
              <geom name="lowerneck" size="0.075 0.02279225" pos="-0.00165071 0.0452401 0.00534359" quat="1 1 0 0"/>
              <body name="upperneck" pos="-0.00330143 0.0904801 0.0106872">
                <joint name="upperneckrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_medium_higher"/>
                <joint name="upperneckry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_medium_higher"/>
                <joint name="upperneckrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium_higher"/>
                <geom name="upperneck" size="0.05 0.0225272" pos="0.000500875 0.0449956 -0.00224644" quat="1 1 0 0"/>
                <body name="head" pos="0.00100175 0.13 -0.00449288">
                  <camera name="egocentric" pos="0 0 0" xyaxes="-1 0 0 0 1 0" fovy="80"/>
                  <joint name="headrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_medium_higher"/>
                  <joint name="headry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_medium_higher"/>
                  <joint name="headrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium_higher"/>
                  <geom name="head" size="0.095 0.024104" pos="0.000341465 0.048184 0.025" quat="1 1 0 0"/>
                </body>
              </body>
            </body>
            <body name="lclavicle" pos="0 0.113945 0.00468037">
              <joint name="lclaviclerz" pos="0 0 0" axis="0 0 1" range="0 0.349066" class="stiff_high"/>
              <joint name="lclaviclery" pos="0 0 0" axis="0 1 0" range="-0.349066 0.174533" class="stiff_high"/>
              <geom name="lclavicle" size="0.075 0.06" pos="0.0918817 0.0382636 0.00535704" quat="0.688 0.279 -0.67 0"/>
              <body name="lhumerus" pos="0.18 0.09 0.0107141" quat="0.183013 0.683013 -0.683013 0.183013">
                <joint name="lhumerusrz" pos="0 0 0" axis="0 0 1" range="-1.1 1.5708" class="stiff_medium"/>
                <joint name="lhumerusry" pos="0 0 0" axis="0 1 0" range="-1.5708 1.5708" class="stiff_medium"/>
                <joint name="lhumerusrx" pos="0 0 0" axis="1 0 0" range="-1.0472 1.5708" class="stiff_medium"/>
                <site name="lhumerus_ft" class="sensor_site"/>
                <geom name="lhumerus" size="0.042 0.1245789" pos="0 -0.138421 0" quat="0.612372 -0.612372 0.353553 0.353553"/>
                <body name="lradius" pos="0 -0.276843 0">
                  <joint name="lradiusrx" pos="0 0 0" axis="1 0 0" range="-0.174533 2.96706"/>
                  <geom name="lradius" size="0.03 0.08169111" pos="0 -0.0907679 0" quat="0.612372 -0.612372 0.353553 0.353553"/>
                  <site name="lwrist" pos="0 -0.181536 0" quat="-0.5 0 0.866025 0"/>
                  <body name="lwrist" pos="0 -0.181536 0" quat="-0.5 0 0.866025 0">
                    <joint name="lwristry" pos="0 0 0" axis="0 1 0" range="0 3.14159"/>
                    <geom name="lwrist" size="0.02 0.03" pos="0 -0.03 0" quat="1.59389e-11 -1.59388e-11 -0.707107 -0.707107"/>
                    <body name="lhand" pos="0 -0.0907676 0">
                      <joint name="lhandrz" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398"/>
                      <joint name="lhandrx" pos="0 0 0" axis="1 0 0" range="-1.5708 1.5708"/>
                      <site name="lhand_touch" size=".012 0.005 0.015" pos="0 -0.016752 -0.02" quat="0 0 -1 -1" type="ellipsoid" class="sensor_site"/>
                      <geom name="lhand" size="0.035 0.02 0.045" pos="0 -0.016752 0" quat="0 0 -1 -1" type="ellipsoid" class="contact"/>
                      <body name="lfingers" pos="0 -0.075 0">
                        <joint name="lfingersrx" pos="0 0.015 0" axis="1 0 0" range="0 1.5708"/>
                        <site name="lfingers_touch" type="box" size="0.023 0.013 0.003" pos="0 -0.042 -0.007" class="sensor_site"/>
                        <geom name="lfinger0" size="0.0065 0.04" pos="-.024 -0.025 0" quat="1 -1 0 0" class="contact"/>
                        <geom name="lfinger1" size="0.0065 0.04" pos="-.008 -0.03 0" quat="1 -1 0 0" class="contact"/>
                        <geom name="lfinger2" size="0.006 0.04" pos=".008 -0.03 0" quat="1 -1 0 0" class="contact"/>
                        <geom name="lfinger3" size="0.0055 0.04" pos=".024 -0.025 0" quat="1 -1 0 0" class="contact"/>
                      </body>
                      <body name="lthumb" pos="-.025 0 0" quat="0.92388 0 0 -0.382683">
                        <joint name="lthumbrz" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398"/>
                        <joint name="lthumbrx" pos="0 0 0" axis="1 0 0" range="0 1.57"/>
                        <site name="lthumb_touch" type="box" size="0.006 0.013 0.003" pos="0 -0.043 -0.007" class="sensor_site"/>
                        <geom name="lthumb" size="0.008 0.03" pos="0 -0.03 0" quat="0 0 -1 -1" class="contact"/>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
            <body name="rclavicle" pos="0 0.113945 0.00468037">
              <joint name="rclaviclerz" pos="0 0 0" axis="0 0 1" range="-0.349066 0" class="stiff_high"/>
              <joint name="rclaviclery" pos="0 0 0" axis="0 1 0" range="-0.174533 0.349066" class="stiff_high"/>
              <geom name="rclavicle" size="0.075 0.06" pos="-0.0918817 0.0382636 0.00535704" quat="0.688 0.279 0.67 0"/>
              <body name="rhumerus" pos="-0.18 0.09 0.0107141" quat="0.183013 0.683013 0.683013 -0.183013">
                <joint name="rhumerusrz" pos="0 0 0" axis="0 0 1" range="-1.1 1.5708" class="stiff_medium"/>
                <joint name="rhumerusry" pos="0 0 0" axis="0 1 0" range="-1.5708 1.5708" class="stiff_medium"/>
                <joint name="rhumerusrx" pos="0 0 0" axis="1 0 0" range="-1.5708 1.0472" class="stiff_medium"/>
                <site name="rhumerus_ft" class="sensor_site"/>
                <geom name="rhumerus" size="0.042 0.1245789" pos="0 -0.138421 0" quat="0.612372 -0.612372 -0.353553 -0.353553"/>
                <body name="rradius" pos="0 -0.276843 0">
                  <joint name="rradiusrx" pos="0 0 0" axis="1 0 0" range="-0.174533 2.96706"/>
                  <geom name="rradius" size="0.03 0.08169111" pos="0 -0.0907679 0" quat="0.61238 -0.612372 -0.353554 -0.353541"/>
                  <body name="rwrist" pos="0 -0.181536 0" quat="-0.5 0 -0.866025 0">
                    <joint name="rwristry" pos="0 0 0" axis="0 1 0" range="-3.14159 0"/>
                    <geom name="rwrist" size="0.02 0.03" pos="0 -0.03 0" quat="0 0 1 1"/>
                    <body name="rhand" pos="0 -0.0907676 0">
                      <joint name="rhandrz" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398"/>
                      <joint name="rhandrx" pos="0 0 0" axis="1 0 0" range="-1.5708 1.5708"/>
                      <site name="rhand_touch" size=".012 0.005 0.015" pos="0 -0.016752 -0.02" quat="0 0 1 1" type="ellipsoid" class="sensor_site"/>
                      <geom name="rhand" size="0.035 0.02 0.045" pos="0 -0.016752 0" quat="0 0 1 1" type="ellipsoid" class="contact"/>
                      <body name="rfingers" pos="0 -0.075 0">
                        <joint name="rfingersrx" pos="0 0.015 0" axis="1 0 0" range="0 1.5708"/>
                        <site name="rfingers_touch" type="box" size="0.023 0.013 0.003" pos="0 -0.042 -0.007" class="sensor_site"/>
                        <geom name="rfinger0" size="0.0065 0.04" pos=".024 -0.025 0" quat="1 -1 0 0" class="contact"/>
                        <geom name="rfinger1" size="0.0065 0.04" pos=".008 -0.03 0" quat="1 -1 0 0" class="contact"/>
                        <geom name="rfinger2" size="0.006 0.04" pos="-.008 -0.03 0" quat="1 -1 0 0" class="contact"/>
                        <geom name="rfinger3" size="0.0055 0.04" pos="-.024 -0.025 0" quat="1 -1 0 0" class="contact"/>
                      </body>
                      <body name="rthumb" pos=".025 0 0" quat="0.92388 0 0 0.382683">
                        <joint name="rthumbrz" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398"/>
                        <joint name="rthumbrx" pos="0 0 0" axis="1 0 0" range="0 1.57"/>
                        <site name="rthumb_touch" type="box" size="0.006 0.013 0.003" pos="0 -0.043 -0.007" class="sensor_site"/>
                        <geom name="rthumb" size="0.008 0.03" pos="0 -0.03 0" quat="6.21773e-11 -6.35284e-11 0.707107 0.707107" class="contact"/>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <contact>
    <exclude body1="lfemur" body2="root"/>
    <exclude body1="rfemur" body2="root"/>
    <exclude body1="lclavicle" body2="rclavicle"/>
    <exclude body1="lowerneck" body2="lclavicle"/>
    <exclude body1="lowerneck" body2="rclavicle"/>
    <exclude body1="upperneck" body2="lclavicle"/>
    <exclude body1="upperneck" body2="rclavicle"/>
  </contact>

  <actuator>
    <motor name="headrx" joint="headrx" gear="20"/>
    <motor name="headry" joint="headry" gear="20"/>
    <motor name="headrz" joint="headrz" gear="20"/>
    <motor name="lclaviclery" joint="lclaviclery" gear="20"/>
    <motor name="lclaviclerz" joint="lclaviclerz" gear="20"/>
    <motor name="lfemurrx" joint="lfemurrx" gear="120"/>
    <motor name="lfemurry" joint="lfemurry" gear="40"/>
    <motor name="lfemurrz" joint="lfemurrz" gear="40"/>
    <motor name="lfingersrx" joint="lfingersrx" gear="20"/>
    <motor name="lfootrx" joint="lfootrx" gear="20"/>
    <motor name="lfootrz" joint="lfootrz" gear="20"/>
    <motor name="lhandrx" joint="lhandrx" gear="20"/>
    <motor name="lhandrz" joint="lhandrz" gear="20"/>
    <motor name="lhumerusrx" joint="lhumerusrx" gear="40"/>
    <motor name="lhumerusry" joint="lhumerusry" gear="40"/>
    <motor name="lhumerusrz" joint="lhumerusrz" gear="40"/>
    <motor name="lowerbackrx" joint="lowerbackrx" gear="40"/>
    <motor name="lowerbackry" joint="lowerbackry" gear="40"/>
    <motor name="lowerbackrz" joint="lowerbackrz" gear="40"/>
    <motor name="lowerneckrx" joint="lowerneckrx" gear="20"/>
    <motor name="lowerneckry" joint="lowerneckry" gear="20"/>
    <motor name="lowerneckrz" joint="lowerneckrz" gear="20"/>
    <motor name="lradiusrx" joint="lradiusrx" gear="40"/>
    <motor name="lthumbrx" joint="lthumbrx" gear="20"/>
    <motor name="lthumbrz" joint="lthumbrz" gear="20"/>
    <motor name="ltibiarx" joint="ltibiarx" gear="80"/>
    <motor name="ltoesrx" joint="ltoesrx" gear="20"/>
    <motor name="lwristry" joint="lwristry" gear="20"/>
    <motor name="rclaviclery" joint="rclaviclery" gear="20"/>
    <motor name="rclaviclerz" joint="rclaviclerz" gear="20"/>
    <motor name="rfemurrx" joint="rfemurrx" gear="120"/>
    <motor name="rfemurry" joint="rfemurry" gear="40"/>
    <motor name="rfemurrz" joint="rfemurrz" gear="40"/>
    <motor name="rfingersrx" joint="rfingersrx" gear="20"/>
    <motor name="rfootrx" joint="rfootrx" gear="20"/>
    <motor name="rfootrz" joint="rfootrz" gear="20"/>
    <motor name="rhandrx" joint="rhandrx" gear="20"/>
    <motor name="rhandrz" joint="rhandrz" gear="20"/>
    <motor name="rhumerusrx" joint="rhumerusrx" gear="40"/>
    <motor name="rhumerusry" joint="rhumerusry" gear="40"/>
    <motor name="rhumerusrz" joint="rhumerusrz" gear="40"/>
    <motor name="rradiusrx" joint="rradiusrx" gear="40"/>
    <motor name="rthumbrx" joint="rthumbrx" gear="20"/>
    <motor name="rthumbrz" joint="rthumbrz" gear="20"/>
    <motor name="rtibiarx" joint="rtibiarx" gear="80"/>
    <motor name="rtoesrx" joint="rtoesrx" gear="20"/>
    <motor name="rwristry" joint="rwristry" gear="20"/>
    <motor name="thoraxrx" joint="thoraxrx" gear="40"/>
    <motor name="thoraxry" joint="thoraxry" gear="40"/>
    <motor name="thoraxrz" joint="thoraxrz" gear="40"/>
    <motor name="upperbackrx" joint="upperbackrx" gear="40"/>
    <motor name="upperbackry" joint="upperbackry" gear="40"/>
    <motor name="upperbackrz" joint="upperbackrz" gear="40"/>
    <motor name="upperneckrx" joint="upperneckrx" gear="20"/>
    <motor name="upperneckry" joint="upperneckry" gear="20"/>
    <motor name="upperneckrz" joint="upperneckrz" gear="20"/>
  </actuator>

  <sensor>
    <velocimeter name="sensor_root_veloc" site="root"/>
    <gyro name="sensor_root_gyro" site="root"/>
    <accelerometer name="sensor_root_accel" site="root"/>
    <touch name="sensor_touch_lhand" site="lhand_touch"/>
    <touch name="sensor_touch_lfingers" site="lfingers_touch"/>
    <touch name="sensor_touch_lthumb" site="lthumb_touch"/>
    <touch name="sensor_touch_rhand" site="rhand_touch"/>
    <touch name="sensor_touch_rfingers" site="rfingers_touch"/>
    <touch name="sensor_touch_rthumb" site="rthumb_touch"/>
    <touch name="sensor_touch_ltoes" site="ltoes_touch"/>
    <touch name="sensor_touch_rtoes" site="rtoes_touch"/>
    <touch name="sensor_touch_rfoot" site="rfoot_touch"/>
    <touch name="sensor_touch_lfoot" site="lfoot_touch"/>
    <torque name="sensor_torque_lhumerus" site="lhumerus_ft"/>
    <torque name="sensor_torque_rhumerus" site="rhumerus_ft"/>
  </sensor>

</mujoco>
