gravity 0 0 -100

joint neck
radius 0.11
pos 1.0 0.9 2.5
axis 1 0 0
rot 0 0 0
range 0.5 -0.5
strength 3.0
velocity 100.0

joint chest
radius 0.18
pos 1.0 0.9 2.05
axis 0 0 1
rot 0 0 0
range 1.0 -1.0
strength 12.0
velocity 40.0

joint lumbar
radius 0.16
pos 1.0 0.95 1.85
axis 0 1 0
rot 0 0 0
range 0.5 -0.5
strength 9.0
velocity 10.0

joint abs
radius 0.14
pos 1.0 1.0 1.65
axis 1 0 0
rot 0 0 0
range 0.4 -0.6
strength 9.0
velocity 10.0

joint r_pecs
radius 0.18
pos 0.85 0.85 2.2
axis 0 0 1
rot 0 0 0
range 1.5 -0.7
strength 9.0
velocity 30.0

joint r_shoulder
radius 0.18
pos 0.65 0.9 2.3
axis 0 1 0
rot 0 0 0
range 1.2 -1.2
strength 12.0
velocity 40.0

joint r_elbow
radius 0.16
pos 0.25 0.90 2.3
axis 0 0 1
rot 0 0 0
range 2.3 0.05
strength 6.0
velocity 80.0

joint l_pecs
radius 0.18
pos 1.15 0.85 2.2
axis 0 0 1
rot 0 0 0
range 1.5 -0.7
strength 9.0
velocity 30.0

joint l_shoulder
radius 0.18
pos 1.35 0.9 2.3
axis 0 1 0
rot 0 0 0
range 1.2 -1.2
strength 12.0
velocity 40.0

joint l_elbow
radius 0.16
pos 1.75 0.9 2.3
axis 0 0 1
rot 0 0 0
range 2.3 0.05
strength 6.0
velocity 80.0

joint r_wrist
radius 0.11
pos -0.2 0.9 2.3
axis 0 0 1
rot 0 0 0
range 2.0 -0.3
strength 6.0
velocity 120.0

joint l_wrist
radius 0.11
pos 2.2 0.9 2.3
axis 0 0 1
rot 0 0 0
range 2.0 -0.3
strength 6.0
velocity 120.0

joint r_glute
radius 0.16
pos 0.9 1.1 1.51
axis 0 1 0
rot 0 0 0
range 0.5 -0.2
strength 12.0
velocity 20.0

joint l_glute
radius 0.16
pos 1.1 1.1 1.51
axis 0 1 0
rot 0 0 0
range 0.5 -0.2
strength 12.0
velocity 20.0

joint r_hip      
radius 0.16
pos 0.79 1.0 1.4
axis 1 0 0
rot 0 0 0
range 1.0 -1.8
strength 6.0
velocity 24.0

joint l_hip
radius 0.16
pos 1.21 1.0 1.4
axis 1 0 0
rot 0 0 0
range 1.0 -1.8
strength 6.0
velocity 24.0

joint r_knee
radius 0.14
pos 0.8 1.0 0.8
axis 1 0 0
rot 0 0 0
range 2.3 0.0
strength 6.0
velocity 80.0

joint l_knee
radius 0.14
pos 1.2 1.0 0.8
axis 1 0 0
rot 0 0 0
range 2.3 0.0
strength 12.0
velocity 80.0

joint r_ankle
radius 0.11
pos 0.8 1.05 0.25
axis 1 0 0
rot 0 0 0
range 1.1 -0.3
strength 3.0
velocity 16.0

joint l_ankle
radius 0.11
pos 1.2 1.05 0.25
axis 1 0 0
rot 0 0 0
range 1.1 -0.3
strength 3.0
velocity 16.0
