diff --git a/dm_control/locomotion/walkers/assets/__init__.py b/dm_control/locomotion/walkers/assets/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/__init__.py b/dm_control/locomotion/walkers/assets/dog_v2/__init__.py
new file mode 100644
index 00000000..422d4bb5
--- /dev/null
+++ b/dm_control/locomotion/walkers/assets/dog_v2/__init__.py
@@ -0,0 +1,21 @@
+import build_torso
+import build_neck
+import add_markers
+import build_tail
+import create_skin
+import build_front_legs
+import build_back_legs
+import add_muscles
+import add_wrapping_geoms
+import add_torque_actuators
+
+build_torso = build_torso.create_torso
+build_neck = build_neck.create_neck
+add_markers = add_markers.add_markers
+build_tail = build_tail.create_tail
+create_skin = create_skin.create
+build_back_legs = build_back_legs.create_back_legs
+build_front_legs = build_front_legs.create_front_legs
+add_muscles = add_muscles.add_muscles
+add_wrapping_geoms = add_wrapping_geoms.add_wrapping_geoms
+add_torque_actuators = add_torque_actuators.add_motors
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/add_markers.py b/dm_control/locomotion/walkers/assets/dog_v2/add_markers.py
new file mode 100644
index 00000000..16ad0427
--- /dev/null
+++ b/dm_control/locomotion/walkers/assets/dog_v2/add_markers.py
@@ -0,0 +1,75 @@
+# Copyright 2023 The dm_control Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ============================================================================
+
+"""Add markers to the dog model, used for motion capture tracking."""
+
+MARKERS_PER_BODY = {
+    "torso": (
+        (-0.25, 0, 0.13),
+        (-0.1, 0, 0.13),
+        (0.05, 0, 0.15),
+        (-0.25, -0.06, -0.01),
+        (-0.1, -0.08, -0.02),
+        (0.05, -0.09, -0.02),
+        (-0.25, 0.06, -0.01),
+        (-0.1, 0.08, -0.02),
+        (0.05, 0.09, -0.02),
+    ),
+    "C_6": ((0.05, -0.05, 0), (0.05, 0.05, 0),),
+    "upper_arm": ((0.04, 0, 0),),
+    "lower_arm": ((0.025, 0, 0), (0.025, 0, -0.1),),
+    "hand": ((0, -0.02, 0), (0, 0.02, 0), (0.02, -0.02, -0.08), (0.02, 0.02, -0.08),),
+    "finger": ((0.065, 0, 0),),
+    "pelvis": ((0.04, -0.07, 0.02), (0.04, 0.07, 0.02),),
+    "upper_leg": ((-0.03, 0.04, 0),),
+    "lower_leg": ((0.04, 0, 0), (-0.04, 0.035, 0),),
+    "foot": ((0, -0.02, 0), (0, 0.02, 0), (0, -0.02, -0.1), (0, 0.03, -0.1),),
+    "toe": ((0.055, 0, 0),),
+    "Ca_10": ((0, 0, 0.01),),
+    "skull": ((0.01, 0, 0.04), (0, -0.05, 0), (0, 0.05, 0), (-0.1, 0, 0.02),),
+}
+
+
+def add_markers(model):
+  """Add markers to the given model.
+
+  Args:
+      model: The model to add markers to.
+  """
+  bodies = model.find_all("body")
+
+  total_markers = 0
+  for body in bodies:
+    for name, markers_pos in MARKERS_PER_BODY.items():
+      if name in body.name and "anchor" not in body.name:
+        marker_idx = 0
+        for pos in markers_pos:
+          pos = list(pos)
+          if "_R" in body.name:
+            pos[1] *= -1
+          body.add(
+              "site",
+              name="marker_" + body.name + "_" + str(marker_idx),
+              pos=pos,
+              dclass="marker",
+          )
+
+          marker_idx += 1
+          total_markers += 1
+  
+  for i in range(total_markers):
+    marker_body = model.worldbody.add(
+        "body", name="marker_" + str(i), mocap=True)
+    marker_body.add("site", name="marker_" + str(i), dclass="mocap_marker")
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/add_muscles.py b/dm_control/locomotion/walkers/assets/dog_v2/add_muscles.py
new file mode 100644
index 00000000..30747a42
--- /dev/null
+++ b/dm_control/locomotion/walkers/assets/dog_v2/add_muscles.py
@@ -0,0 +1,537 @@
+# Copyright 2023 The dm_control Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ============================================================================
+
+"""Add muscle actuators to the dog model."""
+
+from os import listdir
+from os.path import isfile, join
+
+import numpy as np
+import trimesh
+from scipy.spatial import KDTree
+from tqdm import tqdm
+from utils import array_to_string, slices2paths
+
+from dm_control import mjcf as mjcf_module
+from dm_control.locomotion.walkers.assets.dog_v2 import muscles as muscles_constants
+from dm_control.mujoco.wrapper import mjbindings
+from dm_control.utils.transformations import quat_to_mat
+
+MUSCLE_LEGS = (
+    muscles_constants.EXTENSORS_BACK
+    + muscles_constants.EXTENSORS_FRONT
+    + muscles_constants.FLEXORS_BACK
+    + muscles_constants.FLEXORS_FRONT
+)
+
+WRAP_GEOMS_LEGS = (
+    "shoulder_L_wrapping",
+    "elbow_L_wrapping",
+    "wrist_L_wrapping",
+    "finger_L_wrapping",
+    "hip_L_wrapping",
+    "knee_L_wrapping",
+    "toe_L_wrapping",
+    "shoulder_R_wrapping",
+    "elbow_R_wrapping",
+    "wrist_R_wrapping",
+    "finger_R_wrapping",
+    "hip_R_wrapping",
+    "knee_R_wrapping",
+    "toe_R_wrapping",
+)
+
+
+def get_closest_geom(kd_tree, point, mjcf, mtu):
+  """Finds the closest geometric body to a given point using a KD-tree.
+
+  Args:
+      kd_tree : A dictionary containing KD-trees for different bones.
+      point : The coordinates of the target point.
+      mjcf: The MJCF (MuJoCo XML) object.
+      mtu: The muscle-tendon unit (MTU) identifier.
+
+  Returns:
+      closest_geom_body: The closest geometric body (as a Mujoco body object)
+      to the target point.
+  """
+  dist = np.inf
+  closest_geom_body = 0
+  for bone, tree in kd_tree.items():
+    dist_new, i = tree.query(np.array([point]), k=1)
+    geom = mjcf.find("geom", bone)
+    body = geom.parent
+
+    if mtu in MUSCLE_LEGS:
+      if body.name not in [
+          "upper_leg_L",
+          "upper_leg_R",
+          "lower_leg_L",
+          "lower_leg_R",
+          "foot_L",
+          "foot_R",
+          "toe_L",
+          "toe_R",
+          "scapula_L",
+          "scapula_R",
+          "upper_arm_L",
+          "upper_arm_R",
+          "lower_arm_L",
+          "lower_arm_R",
+          "hand_L",
+          "hand_R",
+          "finger_L",
+          "finger_R",
+          "pelvis",
+      ]:
+        continue
+    else:
+      if body.name in [
+          "upper_leg_L",
+          "upper_leg_R",
+          "lower_leg_L",
+          "lower_leg_R",
+          "foot_L",
+          "foot_R",
+          "toe_L",
+          "toe_R",
+          "lower_arm_L",
+          "lower_arm_R",
+          "hand_L",
+          "hand_R",
+          "finger_L",
+          "finger_R",
+      ]:
+        continue
+
+    if dist_new < dist:
+      dist = dist_new
+      closest_geom_body = body
+
+  return closest_geom_body
+
+
+def calculate_transformation(element):
+  """Calculates the transformation matrix from the root to the given element.
+
+  This function iterates through the parent elements of the given element and
+  calculates the transformation matrices from the root until reaching the
+  given element. It considers the position and orientation (quaternion)
+  attributes of each element to construct the transformation matrices.
+  The final transformation matrix represents the cumulative transformation
+  from the root to the given element.
+
+  Args:
+      element: The MuJoCo element for which the transformation matrix
+        is calculated.
+
+  Returns:
+      T: The transformation matrix from the root to the given element.
+  """
+  # Calculate all transformation matrices from root until this element
+  all_transformations = []
+
+  while type(element) == mjcf_module.element._ElementImpl:
+    if element.pos is not None:
+      pos = np.array(element.pos, dtype=float)
+    else:
+      pos = np.zeros(3)
+
+    if element.quat is not None:
+      rot = quat_to_mat(element.get("quat"))
+    else:
+      rot = np.eye(3)
+
+    all_transformations.append(
+        np.vstack(
+            (np.hstack((rot, pos.reshape([-1, 1]))), np.array([0, 0, 0, 1])))
+    )
+
+    element = element.parent
+
+  # Apply all transformations
+  transform = np.eye(4)
+  for transformation in reversed(all_transformations):
+    transform = np.matmul(transform, transformation)
+
+  return transform
+
+
+def add_muscles(
+    model, scale_multiplier, muscle_dynamics, asset_dir, lengthrange_from_joints
+):
+  """Add muscles to a Mujoco (MJCF) model.
+
+  This function adds muscles to a Mujoco model,
+  creating MTUs (muscle-tendon units) and defining
+  their properties.
+
+  Args:
+      model (MJCFModel): The input Mujoco model to which muscles will be added.
+      scale_multiplier (float): A scaling factor for muscle forces (0 to disable anatomical scaling).
+      muscle_dynamics (str): Muscle dynamics model, either 'Millard', 'Sigmoid', or 'General'.
+      asset_dir (str): The directory path containing muscle and bone assets.
+      lengthrange_from_joints (bool): If True, compute length ranges from joint limits.
+
+  Returns:
+      None
+
+  Note:
+  - The function modifies the input `model` in place by adding muscles and related properties.
+  - The specific muscles added depend on the provided `muscle_dynamics` and other parameters.
+
+  Raises:
+      NameError: If an unsupported `muscle_dynamics` value is provided.
+  """
+  physics = mjcf_module.Physics.from_mjcf_model(model)
+  muscle_meshes_path = join(asset_dir, "muscles/")
+  bones_path = asset_dir
+
+  bones = [
+      f for f in listdir(bones_path) if isfile(join(bones_path, f)) and f[0] != "."
+  ]
+
+  bones_kd_trees = {}
+  bones_meshes = {}
+  for bone in bones:
+    if (
+        "BONE" in bone
+        and "simpl" not in bone
+        and "Lingual" not in bone
+        and "cartilage" not in bone
+    ):
+      bone_mesh = trimesh.load_mesh(bones_path + "/" + bone, process=False)
+      bones_kd_trees[bone[4:-4]] = KDTree(bone_mesh.vertices)
+      bones_meshes[bone[4:-4]] = bone_mesh
+
+  muscle = model.default.default["muscle"]
+  muscle.tendon.rgba = [0.5, 0, 0, 1]
+
+  length_range = model.compiler.lengthrange
+  length_range.inttotal = 5
+  length_range.accel = 50
+  length_range.interval = 2
+  length_range.timestep = 0.001
+  length_range.timeconst = 1
+  length_range.tolrange = 0.05
+
+  muscles = (
+      muscles_constants.EXTENSORS_FRONT
+      + muscles_constants.FLEXORS_FRONT
+      + muscles_constants.EXTENSORS_BACK
+      + muscles_constants.FLEXORS_BACK
+      + muscles_constants.TORSO
+      + muscles_constants.NECK
+      + muscles_constants.TAIL
+  )
+
+  used_muscles = []
+  volumes = []
+  spatials = []
+  # create MTUs
+  for mtu in muscles:
+    # Load stl file of site
+    m = trimesh.load_mesh(muscle_meshes_path + mtu + ".stl")
+
+    volumes.append(m.volume)
+    # check along which axis to slice
+    if mtu not in muscles_constants.LATERAL:
+      plane_normal = [0, 0, -1]
+      start = np.argmax(m.vertices[:, 2])
+      end = np.argmin(m.vertices[:, 2])
+    else:
+      plane_normal = [1, 0, 0]
+      start = np.argmin(m.vertices[:, 0])
+      end = np.argmax(m.vertices[:, 0])
+
+    muscle_length = np.linalg.norm(m.vertices[start] - m.vertices[end])
+
+    if muscle_length < 0.1:
+      print("muscle too short", mtu)
+      continue
+
+    heights = np.linspace(start=-0.5, stop=muscle_length,
+                          num=1000, dtype=float)
+
+    slices = m.section_multiplane(
+        plane_origin=m.vertices[start], plane_normal=plane_normal, heights=heights
+    )
+
+    paths = slices2paths(mtu, slices, muscle_length)
+    spatial = model.tendon.add(
+        "spatial", name=f"{mtu}_tendon", dclass="muscle")
+    spatials.append(spatial)
+    used_muscles.append(mtu)
+
+    counter = 0  # used for site naming
+    prev_body = None
+    prev_point = None
+
+    for idx in range(len(paths)):
+      point = paths[idx][0]
+      closest_geom_body = get_closest_geom(bones_kd_trees, point, model, mtu)
+
+      # Add site to tendon
+      min_dist = 0.05
+      max_dist = 0.11
+      if mtu in muscles_constants.TAIL:
+        max_dist = 0.05
+      elif mtu in muscles_constants.NECK:
+        min_dist = 0.11
+        max_dist = 0.15
+
+      d = 0
+      if prev_point is not None:
+        d = np.linalg.norm(prev_point - point)
+
+      # we add a site to the tendon path if:
+      # 1. it's the last or first site
+      # 2. the geometry we are attaching it to is different from the previous
+      #   one, and we have passed the min distance between sites
+      # 3. we passed the max dist between sites
+      if (
+          (closest_geom_body != prev_body and d > min_dist)
+          or idx == len(paths) - 1
+          or idx == 0
+          or d > max_dist
+      ):
+        site_matrix = np.eye(4)
+        site_matrix[:3, 3] = point
+        body_matrix = calculate_transformation(closest_geom_body)
+        site_matrix = np.matmul(np.linalg.inv(body_matrix), site_matrix)
+
+        site_name = mtu + "_" + str(counter)
+        # Create the site
+        closest_geom_body.add(
+            "site",
+            name=site_name,
+            pos=array_to_string(site_matrix[:3, 3]),
+            group="4",
+            dclass="connector",
+        )
+
+        counter += 1
+        spatial.add("site", site=site_name)
+
+        prev_point = point
+        prev_body = closest_geom_body
+
+        # check for wrapping geoms
+        if idx != len(paths) - 1:
+          geoms = physics.named.data.geom_xpos.axes.row.names
+          dist = np.inf
+          closest_g = None
+          closest_geom_pos = None
+          for g_name in geoms:
+            if "wrapping" in g_name:
+              pos = physics.named.data.geom_xpos[g_name]
+              new_dist = np.linalg.norm(pos - point)
+              if (
+                  (
+                      mtu in muscles_constants.LATERAL
+                      or mtu in muscles_constants.NECK
+                  )
+                  and g_name not in WRAP_GEOMS_LEGS
+                  and pos[2] < point[2]
+                  and new_dist < dist
+              ):
+                closest_g = g_name
+                dist = new_dist
+                closest_geom_pos = pos
+              elif (
+                  (
+                      mtu in muscles_constants.FLEXORS_BACK
+                      or mtu in muscles_constants.FLEXORS_FRONT
+                      or mtu in muscles_constants.EXTENSORS_FRONT
+                      or mtu in muscles_constants.EXTENSORS_BACK
+                  )
+                  and pos[2] < point[2]
+                  and dist > 0.01
+                  and new_dist < dist
+                  and g_name in WRAP_GEOMS_LEGS
+              ):
+                # in the legs we are interested only in wrapping
+                # geometries that are lower than the site we
+                # are adding
+                closest_g = g_name
+                dist = new_dist
+                closest_geom_pos = pos
+
+          if dist < 0.1:
+            if (
+                mtu in muscles_constants.FLEXORS_BACK
+                or mtu in muscles_constants.FLEXORS_FRONT
+            ) and closest_geom_pos[2] < point[2]:
+              spatial.add(
+                  "geom", geom=closest_g, sidesite=closest_g + "_backward"
+              )
+            elif (
+                mtu in muscles_constants.EXTENSORS_BACK
+                or mtu in muscles_constants.EXTENSORS_FRONT
+            ) and closest_geom_pos[2] < point[2]:
+              spatial.add(
+                  "geom", geom=closest_g, sidesite=closest_g + "_forward"
+              )
+            elif mtu in muscles_constants.NECK:
+              pos1 = physics.named.data.site_xpos[closest_g + "_forward"]
+              d1 = np.linalg.norm(pos1 - point)
+              pos2 = physics.named.data.site_xpos[closest_g + "_backward"]
+              d2 = np.linalg.norm(pos2 - point)
+              if d1 < d2:
+                spatial.add(
+                    "geom",
+                    geom=closest_g,
+                    sidesite=closest_g + "_forward",
+                )
+              else:
+                spatial.add(
+                    "geom",
+                    geom=closest_g,
+                    sidesite=closest_g + "_backward",
+                )
+            elif mtu in muscles_constants.TORSO and dist < 0.05:
+              spatial.add(
+                  "geom", geom=closest_g, sidesite=closest_g + "_forward"
+              )
+
+    print("Added tendon {}".format(spatial.name))
+
+  physics = mjcf_module.Physics.from_mjcf_model(model)
+  # Compute length ranges:
+  # This computation of lenght ranges differs from the computation
+  # provided in MuJoCo. MuJoCo contracts the muscles
+  # individually, and records it's minimum and maximum length. However this
+  # method relies on the assumption that the muscles dynamics and parameters
+  # are perfectly set up. This is not the case, so the method below is used.
+  # This method randomly samples the joint limits and records the minimum and
+  # maximum length of the muscles. Sampling is necessary because some muscles
+  # cross multiple joints (Biarticular muscles).
+  if lengthrange_from_joints:
+    vector_min = np.ones(physics.model.ntendon) * np.inf
+    vector_max = np.ones(physics.model.ntendon) * -np.inf
+
+    for _ in tqdm(range(500000)):
+      hinge = mjbindings.enums.mjtJoint.mjJNT_HINGE
+      slide = mjbindings.enums.mjtJoint.mjJNT_SLIDE
+
+      for joint_id in range(physics.model.njnt):
+        joint_name = physics.model.id2name(joint_id, "joint")
+        joint_type = physics.model.jnt_type[joint_id]
+        is_limited = physics.model.jnt_limited[joint_id]
+        range_min, range_max = physics.model.jnt_range[joint_id]
+
+        if is_limited and (joint_type == hinge or joint_type == slide):
+          physics.named.data.qpos[joint_name] = np.random.uniform(
+              range_min, range_max
+          )
+        else:
+          continue
+
+      physics.forward()
+      vector_min = np.minimum(vector_min, physics.data.ten_length[:])
+      vector_max = np.maximum(vector_max, physics.data.ten_length[:])
+      physics.reset()
+
+  for tend_idx, spatial in enumerate(spatials):
+    if muscle_dynamics in ["Millard", "Sigmoid"]:
+      muscle = model.actuator.add(
+          "general",
+          tendon=spatial,
+          name=spatial.name,
+          dclass=spatial.dclass,
+          dyntype="muscle",
+          gaintype="muscle",
+          biastype="muscle",
+      )
+      prms = [0] * 10
+      prms[0] = 0.01
+      prms[1] = 0.04
+      if muscle_dynamics == "Millard":
+        muscle.dynprm = prms
+      else:
+        prms[2] = 2.0
+        muscle.dynprm = prms
+
+      if spatial.name[: -len("_tendon")] in muscles_constants.NECK:
+        scale = 1500
+      else:
+        scale = 8000
+
+      # range(2), force, scale, lmin, lmax, vmax, fpmax, fvmax
+      gainprm = [0.75, 1.05, -1, scale, 0.5, 1.6, 1.5, 1.3, 1.2, 0]
+      muscle.gainprm = gainprm
+      muscle.biasprm = gainprm
+      muscle.ctrllimited = True
+      muscle.ctrlrange = [0.0, 1.0]
+      if lengthrange_from_joints:
+        muscle.lengthrange = [vector_min[tend_idx], vector_max[tend_idx]]
+    elif muscle_dynamics == "General":
+      muscle = model.actuator.add(
+          "general", tendon=spatial, name=spatial.name, dclass=spatial.dclass
+      )
+      muscle.ctrllimited = True
+      muscle.ctrlrange = [0.0, 1.0]
+      muscle.gaintype = "affine"
+      muscle.dyntype = "muscle"
+      muscle.dynprm = [0.01, 0.04, 0.001]
+      muscle.gainprm = [-200, -50, -10]
+      if lengthrange_from_joints:
+        muscle.lengthrange = [vector_min[tend_idx], vector_max[tend_idx]]
+    else:
+      raise NameError(muscle_dynamics)
+
+  everything_ok = False
+  while not everything_ok:
+    try:
+      physics = mjcf_module.Physics.from_mjcf_model(model)
+      everything_ok = True
+
+      # assign length ranges and forces
+      if muscle_dynamics in ["Millard", "Sigmoid"]:
+        lr = physics.named.model.actuator_lengthrange
+        forces = None
+
+        # compute anatomical forces if we provide a scale_multiplier > 0
+        if scale_multiplier > 0:
+          volumes = np.array(volumes)
+          lm = []
+          for mtu in used_muscles:
+            mtu_name = mtu + "_tendon"
+            L0 = (lr[mtu_name, 1] - lr[mtu_name, 0]) / (1.05 - 0.75)
+            LM = physics.named.model.actuator_length0[mtu_name] - (
+                lr[mtu_name, 0] - 0.75 * L0
+            )
+            lm.append(LM)
+          lm = np.array(lm)
+          forces = (volumes / lm) * scale_multiplier
+
+        actuators = model.find_all("actuator")
+        # assign forces and length ranges
+        for idx, muscle in enumerate(actuators):
+          muscle.lengthrange = lr[idx]
+          if forces is not None:
+            muscle.gainprm[2] = forces[idx]
+
+    except Exception as inst:
+      print(inst)
+      s = str(inst)
+      s = s.split()
+      i = s.index("actuator")
+      muscle_index = s[i + 1]
+      if ":" in muscle_index:
+        muscle_index = muscle_index[:-1]
+
+      muscle_index = int(muscle_index)
+      del model.actuator.general[muscle_index]
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/add_torque_actuators.py b/dm_control/locomotion/walkers/assets/dog_v2/add_torque_actuators.py
index 71c66fb4..13f98783 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/add_torque_actuators.py
+++ b/dm_control/locomotion/walkers/assets/dog_v2/add_torque_actuators.py
@@ -33,18 +33,18 @@ def add_motors(physics, model, lumbar_joints, cervical_joints, caudal_joints):
   """
   # Fixed Tendons:
   spinal_joints = collections.OrderedDict()
-  spinal_joints['lumbar_'] = lumbar_joints
-  spinal_joints['cervical_'] = cervical_joints
-  spinal_joints['caudal_'] = caudal_joints
+  spinal_joints["lumbar_"] = lumbar_joints
+  spinal_joints["cervical_"] = cervical_joints
+  spinal_joints["caudal_"] = caudal_joints
   tendons = []
   for region in spinal_joints.keys():
-    for direction in ['extend', 'bend', 'twist']:
+    for direction in ["extend", "bend", "twist"]:
       joints = [
           joint for joint in spinal_joints[region] if direction in joint.name
       ]
       if joints:
         tendon = model.tendon.add(
-            'fixed', name=region + direction, dclass=joints[0].dclass
+            "fixed", name=region + direction, dclass=joints[0].dclass
         )
         tendons.append(tendon)
         joint_inertia = physics.bind(joints).M0
@@ -52,34 +52,34 @@ def add_motors(physics, model, lumbar_joints, cervical_joints, caudal_joints):
         coefs /= coefs.sum()
         coefs *= len(joints)
         for i, joint in enumerate(joints):
-          tendon.add('joint', joint=joint, coef=coefs[i])
+          tendon.add("joint", joint=joint, coef=coefs[i])
 
   # Actuators:
   all_spinal_joints = []
   for region in spinal_joints.values():
     all_spinal_joints.extend(region)
-  root_joint = model.find('joint', 'root')
+
+  root_joint = model.find("joint", "root")
   actuated_joints = [
       joint
-      for joint in model.find_all('joint')
+      for joint in model.find_all("joint")
       if joint not in all_spinal_joints and joint is not root_joint
   ]
   for tendon in tendons:
     gain = 0.0
     for joint in tendon.joint:
       # joint.joint.user = physics.bind(joint.joint).damping
-      def_joint = model.default.find('default', joint.joint.dclass)
+      def_joint = model.default.find("default", joint.joint.dclass)
       j_gain = def_joint.general.gainprm or def_joint.parent.general.gainprm
       gain += j_gain[0] * joint.coef
     gain /= len(tendon.joint)
 
     model.actuator.add(
-        'general', tendon=tendon, name=tendon.name, dclass=tendon.dclass
+        "general", tendon=tendon, name=tendon.name, dclass=tendon.dclass
     )
 
   for joint in actuated_joints:
-    model.actuator.add(
-        'general', joint=joint, name=joint.name, dclass=joint.dclass
-    )
+    model.actuator.add("general", joint=joint,
+                       name=joint.name, dclass=joint.dclass)
 
   return actuated_joints
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/add_wrapping_geoms.py b/dm_control/locomotion/walkers/assets/dog_v2/add_wrapping_geoms.py
new file mode 100644
index 00000000..deb7356b
--- /dev/null
+++ b/dm_control/locomotion/walkers/assets/dog_v2/add_wrapping_geoms.py
@@ -0,0 +1,378 @@
+# Copyright 2023 The dm_control Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ============================================================================
+
+
+def add_wrapping_geoms(model):
+  """ Adds wrapping geometries and sites to the specified model.
+
+  Args:
+      model: The model to which the wrapping geometries and sites will be added.
+  """
+  pelvis = model.find("body", "pelvis")
+  pelvis.add(
+      "geom",
+      name="hip_R_wrapping",
+      dclass="wrapping",
+      size=[0.05, 0.04],
+      pos=[0, 0.05, -0.02],
+  )
+  pelvis.add(
+      "site",
+      name="hip_R_wrapping_forward",
+      dclass="wrapping",
+      pos=[0.08, -0.05, -0.00],
+  )
+  pelvis.add(
+      "site",
+      name="hip_R_wrapping_backward",
+      dclass="wrapping",
+      pos=[-0.04, -0.05, -0.04],
+  )
+
+  pelvis.add(
+      "geom",
+      name="hip_L_wrapping",
+      dclass="wrapping",
+      size=[0.05, 0.04],
+      pos=[0, -0.05, -0.02],
+  )
+  pelvis.add(
+      "site",
+      name="hip_L_wrapping_forward",
+      dclass="wrapping",
+      pos=[0.08, 0.05, -0.00],
+  )
+  pelvis.add(
+      "site",
+      name="hip_L_wrapping_backward",
+      dclass="wrapping",
+      pos=[-0.04, 0.05, -0.04],
+  )
+
+  C_2 = model.find("body", "C_2")
+  C_2.add(
+      "geom",
+      name="C_2_wrapping",
+      dclass="wrapping",
+      pos=[0.02, 0, 0.03],
+      size=[0.015, 0.04],
+  )
+  C_2.add("site", name="C_2_wrapping_forward",
+          pos=[0.05, 0, 0.02], dclass="wrapping")
+  C_2.add(
+      "site", name="C_2_wrapping_backward", pos=[-0.005, 0, 0.04], dclass="wrapping"
+  )
+  C_7 = model.find("body", "C_7")
+  C_7.add("geom", name="C_7_wrapping", dclass="wrapping", size=[0.03, 0.07])
+
+  Ca_1 = model.find("body", "Ca_1")
+  Ca_1.add("geom", name="Ca_1_wrapping", size=[0.008, 0.04], dclass="wrapping")
+  Ca_1.add("site", name="Ca_1_wrapping_forward",
+           pos=[0, 0, -0.05], dclass="wrapping")
+  Ca_1.add("site", name="Ca_1_wrapping_backward",
+           pos=[0, 0, 0.05], dclass="wrapping")
+
+  torso = model.find("body", "torso")
+  torso.add(
+      "site", name="C_7_wrapping_forward", pos=[0.19, 0, 0.055], dclass="wrapping"
+  )
+  torso.add(
+      "site", name="C_7_wrapping_backward", pos=[0.09, 0, 0.12], dclass="wrapping"
+  )
+
+  for i in range(1, 8, 1):
+    body = model.find("body", f"L_{i}")
+    body.add("geom", name=f"L_{i}_wrapping", size=[
+             0.009, 0.04], dclass="wrapping")
+    body.add(
+        "site",
+        name=f"L_{i}_wrapping_forward",
+        pos=[0, 0, 0.1],
+        dclass="wrapping",
+    )
+    body.add(
+        "site",
+        name=f"L_{i}_wrapping_backward",
+        pos=[0, 0, -0.1],
+        dclass="wrapping",
+    )
+
+  # Left Side
+  upper_leg_L = model.find("body", "upper_leg_L")
+  upper_leg_L.add(
+      "site",
+      name="knee_L_wrapping_forward",
+      pos=[0.07, 0.0311, -0.175],
+      dclass="wrapping",
+  )
+  upper_leg_L.add(
+      "site",
+      name="knee_L_wrapping_backward",
+      pos=[-0.09, 0.0311, 0],
+      dclass="wrapping",
+  )
+
+  lower_leg_L = model.find("body", "lower_leg_L")
+  lower_leg_L.add(
+      "geom", name="knee_L_wrapping", dclass="wrapping", size=[0.02, 0.05]
+  )
+  lower_leg_L.add(
+      "site",
+      name="ankle_L_wrapping_forward",
+      pos=[-0.08, 0, -0.13824],
+      dclass="wrapping",
+  )
+  lower_leg_L.add(
+      "site",
+      name="ankle_L_wrapping_backward",
+      pos=[-0.25, 0, -0.13824],
+      dclass="wrapping",
+  )
+
+  foot_L = model.find("body", "foot_L")
+  foot_L.add("geom", name="ankle_L_wrapping",
+             dclass="wrapping", size=[0.02, 0.05])
+  foot_L.add(
+      "site",
+      name="toe_L_wrapping_forward",
+      pos=[0.07, 0, -0.11993],
+      dclass="wrapping",
+  )
+  foot_L.add(
+      "site",
+      name="toe_L_wrapping_backward",
+      pos=[-0.07, 0, -0.11993],
+      dclass="wrapping",
+  )
+
+  toe_L = model.find("body", "toe_L")
+  toe_L.add("geom", name="toe_L_wrapping",
+            dclass="wrapping", size=[0.01, 0.05])
+
+  scapula_L = model.find("body", "scapula_L")
+  scapula_L.add(
+      "geom",
+      name="shoulder_L_wrapping",
+      pos=[0.075, 0.033, -0.13],
+      size=[0.015, 0.05],
+      dclass="wrapping",
+  )
+  scapula_L.add(
+      "site",
+      name="shoulder_L_wrapping_forward",
+      pos=[0.1, 0.033, -0.13],
+      dclass="wrapping",
+  )
+  scapula_L.add(
+      "site",
+      name="shoulder_L_wrapping_backward",
+      pos=[0.02, 0.033, -0.13],
+      dclass="wrapping",
+  )
+  upper_arm_L = model.find("body", "upper_arm_L")
+  upper_arm_L.add(
+      "geom",
+      name="elbow_L_wrapping",
+      pos=[-0.05, 0.015, -0.135],
+      size=[0.015, 0.05],
+      dclass="wrapping",
+  )
+  upper_arm_L.add(
+      "site",
+      name="elbow_L_wrapping_forward",
+      pos=[0.03, 0.015, -0.15],
+      dclass="wrapping",
+  )
+  upper_arm_L.add(
+      "site",
+      name="elbow_L_wrapping_backward",
+      pos=[-0.1, 0.015, -0.15],
+      dclass="wrapping",
+  )
+  lower_arm_L = model.find("body", "lower_arm_L")
+  lower_arm_L.add(
+      "site",
+      name="wrist_L_wrapping_forward",
+      pos=[0.015, -0.015, -0.18],
+      dclass="wrapping",
+  )
+  lower_arm_L.add(
+      "site",
+      name="wrist_L_wrapping_backward",
+      pos=[-0.05, -0.015, -0.19],
+      dclass="wrapping",
+  )
+  hand_anchor_L = model.find("body", "hand_anchor_L")
+  hand_anchor_L.add(
+      "geom",
+      name="wrist_L_wrapping",
+      size=[0.011, 0.05],
+      pos=[0, 0, 0.012],
+      dclass="wrapping",
+  )
+  hand_L = model.find("body", "hand_L")
+  hand_L.add(
+      "geom",
+      name="finger_L_wrapping",
+      size=[0.015, 0.05],
+      pos=[0.01, 0, -0.05],
+      dclass="wrapping",
+  )
+  hand_L.add(
+      "site",
+      name="finger_L_wrapping_forward",
+      pos=[0.05, 0, -0.06],
+      dclass="wrapping",
+  )
+  hand_L.add(
+      "site",
+      name="finger_L_wrapping_backward",
+      pos=[-0.05, 0, -0.06],
+      dclass="wrapping",
+  )
+
+  # Right Side
+  upper_leg_R = model.find("body", "upper_leg_R")
+  upper_leg_R.add(
+      "site",
+      name="knee_R_wrapping_forward",
+      pos=[0.07, -0.0311, -0.175],
+      dclass="wrapping",
+  )
+  upper_leg_R.add(
+      "site",
+      name="knee_R_wrapping_backward",
+      pos=[-0.09, -0.0311, 0],
+      dclass="wrapping",
+  )
+
+  lower_leg_R = model.find("body", "lower_leg_R")
+  lower_leg_R.add(
+      "geom", name="knee_R_wrapping", dclass="wrapping", size=[0.02, 0.05]
+  )
+  lower_leg_R.add(
+      "site",
+      name="ankle_R_wrapping_forward",
+      pos=[-0.08, 0, -0.13824],
+      dclass="wrapping",
+  )
+  lower_leg_R.add(
+      "site",
+      name="ankle_R_wrapping_backward",
+      pos=[-0.25, 0, -0.13824],
+      dclass="wrapping",
+  )
+
+  foot_R = model.find("body", "foot_R")
+  foot_R.add("geom", name="ankle_R_wrapping",
+             dclass="wrapping", size=[0.02, 0.05])
+  foot_R.add(
+      "site",
+      name="toe_R_wrapping_forward",
+      pos=[0.07, 0, -0.11993],
+      dclass="wrapping",
+  )
+  foot_R.add(
+      "site",
+      name="toe_R_wrapping_backward",
+      pos=[-0.07, 0, -0.11993],
+      dclass="wrapping",
+  )
+
+  toe_R = model.find("body", "toe_R")
+  toe_R.add("geom", name="toe_R_wrapping",
+            dclass="wrapping", size=[0.01, 0.05])
+
+  scapula_R = model.find("body", "scapula_R")
+  scapula_R.add(
+      "geom",
+      name="shoulder_R_wrapping",
+      pos=[0.075, -0.033, -0.13],
+      size=[0.015, 0.05],
+      dclass="wrapping",
+  )
+  scapula_R.add(
+      "site",
+      name="shoulder_R_wrapping_forward",
+      pos=[0.1, -0.033, -0.13],
+      dclass="wrapping",
+  )
+  scapula_R.add(
+      "site",
+      name="shoulder_R_wrapping_backward",
+      pos=[0.02, -0.033, -0.13],
+      dclass="wrapping",
+  )
+  upper_arm_R = model.find("body", "upper_arm_R")
+  upper_arm_R.add(
+      "geom",
+      name="elbow_R_wrapping",
+      pos=[-0.05, -0.015, -0.135],
+      size=[0.015, 0.05],
+      dclass="wrapping",
+  )
+  upper_arm_R.add(
+      "site",
+      name="elbow_R_wrapping_forward",
+      pos=[0.03, -0.015, -0.15],
+      dclass="wrapping",
+  )
+  upper_arm_R.add(
+      "site",
+      name="elbow_R_wrapping_backward",
+      pos=[-0.1, -0.015, -0.15],
+      dclass="wrapping",
+  )
+  lower_arm_R = model.find("body", "lower_arm_R")
+  lower_arm_R.add(
+      "site",
+      name="wrist_R_wrapping_forward",
+      pos=[0.015, 0.015, -0.18],
+      dclass="wrapping",
+  )
+  lower_arm_R.add(
+      "site",
+      name="wrist_R_wrapping_backward",
+      pos=[-0.05, 0.015, -0.19],
+      dclass="wrapping",
+  )
+  hand_anchor_R = model.find("body", "hand_anchor_R")
+  hand_anchor_R.add(
+      "geom",
+      name="wrist_R_wrapping",
+      size=[0.011, 0.05],
+      pos=[0, 0, 0.012],
+      dclass="wrapping",
+  )
+  hand_R = model.find("body", "hand_R")
+  hand_R.add(
+      "geom",
+      name="finger_R_wrapping",
+      size=[0.015, 0.05],
+      pos=[0.01, 0, -0.05],
+      dclass="wrapping",
+  )
+  hand_R.add(
+      "site",
+      name="finger_R_wrapping_forward",
+      pos=[0.05, 0, -0.06],
+      dclass="wrapping",
+  )
+  hand_R.add(
+      "site",
+      name="finger_R_wrapping_backward",
+      pos=[-0.05, 0, -0.06],
+      dclass="wrapping",
+  )
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/build_back_legs.py b/dm_control/locomotion/walkers/assets/dog_v2/build_back_legs.py
index bbc36e2c..058ef2ba 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/build_back_legs.py
+++ b/dm_control/locomotion/walkers/assets/dog_v2/build_back_legs.py
@@ -15,9 +15,10 @@
 
 """Make back legs for the dog model."""
 
-from dm_control import mjcf
 import numpy as np
 
+from dm_control import mjcf
+
 
 def create_back_legs(
     model,
@@ -49,67 +50,67 @@ def create_back_legs(
   # Hip joint sites:
   scale = np.asarray([bone_size[bone] for bone in pelvic_bones]).mean()
   hip_pos = np.array((-0.23, -0.6, -0.16)) * scale
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     pelvis.add(
-        'site', name='hip' + side, size=[0.011], pos=hip_pos * side_sign[side]
+        "site", name="hip" + side, size=[0.011], pos=hip_pos * side_sign[side]
     )
 
   # Upper legs:
   upper_leg = {}
-  femurs = [b for b in bones if 'Fem' in b]
+  femurs = [b for b in bones if "Fem" in b]
   use_tendons = False
   if not use_tendons:
-    femurs += [b for b in bones if 'Patella' in b]
-  for side in ['_L', '_R']:
+    femurs += [b for b in bones if "Patella" in b]
+  for side in ["_L", "_R"]:
     body_pos = hip_pos * side_sign[side]
-    leg = pelvis.add('body', name='upper_leg' + side, pos=body_pos)
+    leg = pelvis.add("body", name="upper_leg" + side, pos=body_pos)
     upper_leg[side] = leg
     for bone in [b for b in femurs if side in b]:
       leg.add(
-          'geom',
+          "geom",
           name=bone,
           mesh=bone,
-          pos=-bone_position['Pelvis'] - body_pos,
-          dclass='bone',
+          pos=-bone_position["Pelvis"] - body_pos,
+          dclass="bone",
       )
 
     # Hip joints
-    for dof in ['_supinate', '_abduct', '_extend']:
+    for dof in ["_supinate", "_abduct", "_extend"]:
       axis = primary_axis[dof].copy()
-      if dof != '_extend':
-        axis *= 1.0 if side != '_R' else -1.0
-      leg.add('joint', name='hip' + side + dof, dclass='hip' + dof, axis=axis)
+      if dof != "_extend":
+        axis *= 1.0 if side != "_R" else -1.0
+      leg.add("joint", name="hip" + side + dof, dclass="hip" + dof, axis=axis)
 
     # Knee sites
-    scale = bone_size['Femoris_L']
+    scale = bone_size["Femoris_L"]
     knee_pos = np.array((-0.2, -0.27, -1.45)) * scale
     leg.add(
-        'site',
-        type='cylinder',
-        name='knee' + side,
+        "site",
+        type="cylinder",
+        name="knee" + side,
         size=[0.003, 0.02],
         zaxis=(0, 1, 0),
         pos=knee_pos * side_sign[side],
     )
     pos = np.array((-0.01, -0.02, -0.08)) * side_sign[side]
-    euler = [-10 * (1.0 if side == '_R' else -1.0), 20, 0]
+    euler = [-10 * (1.0 if side == "_R" else -1.0), 20, 0]
     leg.add(
-        'geom',
-        name=leg.name + '0_collision',
+        "geom",
+        name=leg.name + "0_collision",
         pos=pos,
         size=[0.04, 0.08],
         euler=euler,
-        dclass='collision_primitive',
+        dclass="collision_primitive",
     )
     pos = np.array((-0.03, 0, -0.05))
-    euler = [-10 * (1.0 if side == '_R' else -1.0), 5, 0]
+    euler = [-10 * (1.0 if side == "_R" else -1.0), 5, 0]
     leg.add(
-        'geom',
-        name=leg.name + '1_collision',
+        "geom",
+        name=leg.name + "1_collision",
         pos=pos,
         size=[0.04, 0.04],
         euler=euler,
-        dclass='collision_primitive',
+        dclass="collision_primitive",
     )
 
     # Patella
@@ -119,29 +120,29 @@ def create_back_legs(
 
   # Lower legs:
   lower_leg = {}
-  lower_leg_bones = [b for b in bones if 'Tibia_' in b or 'Fibula' in b]
-  for side in ['_L', '_R']:
+  lower_leg_bones = [b for b in bones if "Tibia_" in b or "Fibula" in b]
+  for side in ["_L", "_R"]:
     body_pos = knee_pos * side_sign[side]
-    leg = upper_leg[side].add('body', name='lower_leg' + side, pos=body_pos)
+    leg = upper_leg[side].add("body", name="lower_leg" + side, pos=body_pos)
     lower_leg[side] = leg
     for bone in [b for b in lower_leg_bones if side in b]:
       leg.add(
-          'geom',
+          "geom",
           name=bone,
           mesh=bone,
-          pos=-bone_position['Pelvis'] - upper_leg[side].pos - body_pos,
-          dclass='bone',
+          pos=-bone_position["Pelvis"] - upper_leg[side].pos - body_pos,
+          dclass="bone",
       )
     # Knee joints
-    leg.add('joint', name='knee' + side, dclass='knee', axis=(0, -1, 0))
+    leg.add("joint", name="knee" + side, dclass="knee", axis=(0, -1, 0))
 
     # Ankle sites
-    scale = bone_size['Tibia_L']
+    scale = bone_size["Tibia_L"]
     ankle_pos = np.array((-1.27, 0.04, -0.98)) * scale
     leg.add(
-        'site',
-        type='cylinder',
-        name='ankle' + side,
+        "site",
+        type="cylinder",
+        name="ankle" + side,
         size=[0.003, 0.013],
         zaxis=(0, 1, 0),
         pos=ankle_pos * side_sign[side],
@@ -149,133 +150,132 @@ def create_back_legs(
 
   # Feet:
   foot = {}
-  foot_bones = [b for b in bones if 'tars' in b.lower() or 'tuber' in b]
-  for side in ['_L', '_R']:
+  foot_bones = [b for b in bones if "tars" in b.lower() or "tuber" in b]
+  for side in ["_L", "_R"]:
     body_pos = ankle_pos * side_sign[side]
-    leg = lower_leg[side].add('body', name='foot' + side, pos=body_pos)
+    leg = lower_leg[side].add("body", name="foot" + side, pos=body_pos)
     foot[side] = leg
     for bone in [b for b in foot_bones if side in b]:
       leg.add(
-          'geom',
+          "geom",
           name=bone,
           mesh=bone,
-          pos=-bone_position['Pelvis']
+          pos=-bone_position["Pelvis"]
           - upper_leg[side].pos
           - lower_leg[side].pos
           - body_pos,
-          dclass='bone',
+          dclass="bone",
       )
     # Ankle joints
-    leg.add('joint', name='ankle' + side, dclass='ankle', axis=(0, 1, 0))
+    leg.add("joint", name="ankle" + side, dclass="ankle", axis=(0, 1, 0))
     pos = np.array((-0.01, -0.005, -0.05)) * side_sign[side]
     leg.add(
-        'geom',
-        name=leg.name + '_collision',
+        "geom",
+        name=leg.name + "_collision",
         size=[0.015, 0.07],
         pos=pos,
-        dclass='collision_primitive',
+        dclass="collision_primitive",
     )
 
     # Toe sites
-    scale = bone_size['Metatarsi_R_2']
+    scale = bone_size["Metatarsi_R_2"]
     toe_pos = np.array((-0.37, -0.2, -2.95)) * scale
     leg.add(
-        'site',
-        type='cylinder',
-        name='toe' + side,
+        "site",
+        type="cylinder",
+        name="toe" + side,
         size=[0.003, 0.025],
         zaxis=(0, 1, 0),
         pos=toe_pos * side_sign[side],
     )
 
   # Toes:
-  toe_bones = [b for b in bones if 'Phalange' in b]
+  toe_bones = [b for b in bones if "Phalange" in b]
   toe_geoms = []
   sole_sites = []
   nails = []
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     body_pos = toe_pos * side_sign[side]
     foot_anchor = foot[side].add(
-        'body', name='foot_anchor' + side, pos=body_pos
-    )
+        "body", name="foot_anchor" + side, pos=body_pos)
     foot_anchor.add(
-        'geom',
+        "geom",
         name=foot_anchor.name,
-        dclass='foot_primitive',
-        type='box',
+        dclass="foot_primitive",
+        type="box",
         size=(0.005, 0.005, 0.005),
         contype=0,
         conaffinity=0,
     )
-    foot_anchor.add('site', name=foot_anchor.name, dclass='sensor')
-    leg = foot_anchor.add('body', name='toe' + side)
+    foot_anchor.add("site", name=foot_anchor.name, dclass="sensor")
+    leg = foot_anchor.add("body", name="toe" + side)
     for bone in [b for b in toe_bones if side in b]:
       geom = leg.add(
-          'geom',
+          "geom",
           name=bone,
           mesh=bone,
-          pos=-bone_position['Pelvis']
+          pos=-bone_position["Pelvis"]
           - upper_leg[side].pos
           - lower_leg[side].pos
           - foot[side].pos
           - body_pos,
-          dclass='bone',
+          dclass="bone",
       )
-      if 'B_3' in bone:
+      if "B_3" in bone:
         nails.append(bone)
-        geom.dclass = 'visible_bone'
+        geom.dclass = "visible_bone"
       else:
         toe_geoms.append(geom)
     # Toe joints
-    leg.add('joint', name='toe' + side, dclass='toe', axis=(0, 1, 0))
+    leg.add("joint", name="toe" + side, dclass="toe", axis=(0, 1, 0))
     # Collision geoms
     leg.add(
-        'geom',
-        name=leg.name + '0_collision',
+        "geom",
+        name=leg.name + "0_collision",
         size=[0.018, 0.012],
         pos=[0.015, 0, -0.02],
         euler=(90, 0, 0),
-        dclass='foot_primitive',
+        dclass="foot_primitive",
     )
     leg.add(
-        'geom',
-        name=leg.name + '1_collision',
+        "geom",
+        name=leg.name + "1_collision",
         size=[0.01, 0.015],
         pos=[0.035, 0, -0.028],
         euler=(90, 0, 0),
-        dclass='foot_primitive',
+        dclass="foot_primitive",
     )
     leg.add(
-        'geom',
-        name=leg.name + '2_collision',
+        "geom",
+        name=leg.name + "2_collision",
         size=[0.008, 0.01],
         pos=[0.045, 0, -0.03],
         euler=(90, 0, 0),
-        dclass='foot_primitive',
+        dclass="foot_primitive",
     )
     sole = leg.add(
-        'site',
-        name='sole' + side,
+        "site",
+        name="sole" + side,
         size=(0.025, 0.03, 0.008),
         pos=(0.026, 0, -0.033),
-        type='box',
-        dclass='sensor',
+        type="box",
+        dclass="sensor",
     )
 
     sole_sites.append(sole)
 
   physics = mjcf.Physics.from_mjcf_model(model)
 
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     # lower leg:
     leg = lower_leg[side]
     leg.add(
-        'geom',
-        name=leg.name + '_collision',
+        "geom",
+        name=leg.name + "_collision",
         pos=physics.bind(leg).ipos * 1.3,
         size=[0.02, 0.1],
         quat=physics.bind(leg).iquat,
-        dclass='collision_primitive',
+        dclass="collision_primitive",
     )
 
   return nails, sole_sites
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/build_dog.py b/dm_control/locomotion/walkers/assets/dog_v2/build_dog.py
index ffcaea18..02a96641 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/build_dog.py
+++ b/dm_control/locomotion/walkers/assets/dog_v2/build_dog.py
@@ -17,44 +17,68 @@
 
 import os
 
-from absl import app
-from absl import flags
-from dm_control import mjcf
-from dm_control.locomotion.walkers.assets.dog_v2 import add_torque_actuators
-from dm_control.locomotion.walkers.assets.dog_v2 import build_back_legs
-from dm_control.locomotion.walkers.assets.dog_v2 import build_front_legs
-from dm_control.locomotion.walkers.assets.dog_v2 import build_neck
-from dm_control.locomotion.walkers.assets.dog_v2 import build_tail
-from dm_control.locomotion.walkers.assets.dog_v2 import build_torso
-from dm_control.locomotion.walkers.assets.dog_v2 import create_skin
-from lxml import etree
 import numpy as np
+from absl import app, flags
+from lxml import etree
 
+from dm_control import mjcf
+from dm_control.locomotion.walkers.assets import dog_v2
 from dm_control.utils import io as resources
 
-flags.DEFINE_boolean('make_skin', True, 'Whether to make a new dog_skin.skn')
+flags.DEFINE_boolean("make_skin", True, "Whether to make a new dog_skin.skn")
+flags.DEFINE_boolean(
+    "lengthrange_from_joints",
+    False,
+    "Whether to compute the length ranges of spatial tendons from joints",
+)
+flags.DEFINE_boolean("use_muscles", False,
+                     "Whether to use muscles or torque actuators")
+flags.DEFINE_boolean(
+    "add_markers", False, "Whether to add markers; used for motion capture tracking"
+)
+flags.DEFINE_integer(
+    "muscle_strength_scale",
+    -1,
+    "muscle force multiplier, if negative we let MuJoCo computer the strength",
+)
+flags.DEFINE_string(
+    "muscle_dynamics", "Millard", "muscle dynamics one of [Millard, Sigmoid, General]"
+)
+flags.DEFINE_boolean(
+    "make_muscles_skin", False, "Whether to make new skins for muscles"
+)
 flags.DEFINE_float(
-    'lumbar_dofs_per_vertebra',
+    "lumbar_dofs_per_vertebra",
     1.5,
-    'Number of degrees of freedom per vertebra in lumbar spine.',
+    "Number of degrees of freedom per vertebra in lumbar spine.",
 )
 flags.DEFINE_float(
-    'cervical_dofs_per_vertebra',
+    "cervical_dofs_per_vertebra",
     1.5,
-    'Number of degrees of freedom vertebra in cervical spine.',
+    "Number of degrees of freedom vertebra in cervical spine.",
 )
 flags.DEFINE_float(
-    'caudal_dofs_per_vertebra',
+    "caudal_dofs_per_vertebra",
     1,
-    'Number of degrees of freedom vertebra in caudal spine.',
+    "Number of degrees of freedom vertebra in caudal spine.",
+)
+flags.DEFINE_boolean(
+    "composer",
+    False,
+    "Make slight adjustments to the model to make it compatible for the composer.",
+)
+flags.DEFINE_string(
+    "output_dir",
+    os.path.dirname(__file__),
+    "Output directory for the created dog model"
 )
 
 FLAGS = flags.FLAGS
 
-BASE_MODEL = 'dog_base.xml'
-ASSET_RELPATH = '../../../../suite/dog_assets'
-ASSET_DIR = os.path.dirname(__file__) + '/' + ASSET_RELPATH
-print(ASSET_DIR)
+BASE_MODEL = "dog_base.xml"
+ASSET_RELPATH = "../../../../suite/dog_assets"
+CURRENT_DIR = os.path.dirname(__file__)
+ASSET_DIR = os.path.join(CURRENT_DIR, ASSET_RELPATH)
 
 
 def exclude_contacts(model):
@@ -66,73 +90,71 @@ def exclude_contacts(model):
   physics = mjcf.Physics.from_mjcf_model(model)
   excluded_pairs = []
   for c in physics.data.contact:
-    body1 = physics.model.id2name(physics.model.geom_bodyid[c.geom1], 'body')
-    body2 = physics.model.id2name(physics.model.geom_bodyid[c.geom2], 'body')
-    pair = body1 + ':' + body2
+    body1 = physics.model.id2name(physics.model.geom_bodyid[c.geom1], "body")
+    body2 = physics.model.id2name(physics.model.geom_bodyid[c.geom2], "body")
+    pair = body1 + ":" + body2
     if pair not in excluded_pairs:
       excluded_pairs.append(pair)
-      model.contact.add('exclude', name=pair, body1=body1, body2=body2)
+      model.contact.add("exclude", name=pair, body1=body1, body2=body2)
   # manual exclusions
   model.contact.add(
-      'exclude',
-      name='C_1:jaw',
-      body1=model.find('body', 'C_1'),
-      body2=model.find('body', 'jaw'),
+      "exclude",
+      name="C_1:jaw",
+      body1=model.find("body", "C_1"),
+      body2=model.find("body", "jaw"),
   )
   model.contact.add(
-      'exclude',
-      name='torso:lower_arm_L',
-      body1=model.find('body', 'torso'),
-      body2='lower_arm_L',
+      "exclude",
+      name="torso:lower_arm_L",
+      body1=model.find("body", "torso"),
+      body2="lower_arm_L",
   )
   model.contact.add(
-      'exclude',
-      name='torso:lower_arm_R',
-      body1=model.find('body', 'torso'),
-      body2='lower_arm_R',
+      "exclude",
+      name="torso:lower_arm_R",
+      body1=model.find("body", "torso"),
+      body2="lower_arm_R",
   )
+  model.contact.add("exclude", name="C_4:scapula_R",
+                    body1="C_4", body2="scapula_R")
+  model.contact.add("exclude", name="C_4:scapula_L",
+                    body1="C_4", body2="scapula_L")
   model.contact.add(
-      'exclude', name='C_4:scapula_R', body1='C_4', body2='scapula_R'
+      "exclude", name="C_5:upper_arm_R", body1="C_5", body2="upper_arm_R"
   )
   model.contact.add(
-      'exclude', name='C_4:scapula_L', body1='C_4', body2='scapula_L'
+      "exclude", name="C_5:upper_arm_L", body1="C_5", body2="upper_arm_L"
   )
   model.contact.add(
-      'exclude', name='C_5:upper_arm_R', body1='C_5', body2='upper_arm_R'
+      "exclude", name="C_6:upper_arm_R", body1="C_6", body2="upper_arm_R"
   )
   model.contact.add(
-      'exclude', name='C_5:upper_arm_L', body1='C_5', body2='upper_arm_L'
+      "exclude", name="C_6:upper_arm_L", body1="C_6", body2="upper_arm_L"
   )
   model.contact.add(
-      'exclude', name='C_6:upper_arm_R', body1='C_6', body2='upper_arm_R'
+      "exclude", name="C_7:upper_arm_R", body1="C_7", body2="upper_arm_R"
   )
   model.contact.add(
-      'exclude', name='C_6:upper_arm_L', body1='C_6', body2='upper_arm_L'
+      "exclude", name="C_7:upper_arm_L", body1="C_7", body2="upper_arm_L"
   )
   model.contact.add(
-      'exclude', name='C_7:upper_arm_R', body1='C_7', body2='upper_arm_R'
+      "exclude",
+      name="upper_leg_L:upper_leg_R",
+      body1="upper_leg_L",
+      body2="upper_leg_R",
   )
-  model.contact.add(
-      'exclude', name='C_7:upper_arm_L', body1='C_7', body2='upper_arm_L'
-  )
-  model.contact.add(
-      'exclude',
-      name='upper_leg_L:upper_leg_R',
-      body1='upper_leg_L',
-      body2='upper_leg_R',
-  )
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     model.contact.add(
-        'exclude',
-        name='lower_leg' + side + ':pelvis',
-        body1='lower_leg' + side,
-        body2='pelvis',
+        "exclude",
+        name="lower_leg" + side + ":pelvis",
+        body1="lower_leg" + side,
+        body2="pelvis",
     )
     model.contact.add(
-        'exclude',
-        name='upper_leg' + side + ':foot' + side,
-        body1='upper_leg' + side,
-        body2='foot' + side,
+        "exclude",
+        name="upper_leg" + side + ":foot" + side,
+        body1="upper_leg" + side,
+        body2="foot" + side,
     )
 
 
@@ -145,56 +167,85 @@ def main(argv):
     cervical_dofs_per_vertebra = FLAGS.cervical_dofs_per_vertebra
     caudal_dofs_per_vertebra = FLAGS.caudal_dofs_per_vertebra
     make_skin = FLAGS.make_skin
+    use_muscles = FLAGS.use_muscles
+    muscle_strength_scale = FLAGS.muscle_strength_scale
+    make_muscles_skin = FLAGS.make_muscles_skin
+    muscle_dynamics = FLAGS.muscle_dynamics
+    add_markers = FLAGS.add_markers
+    lengthrange_from_joints = FLAGS.lengthrange_from_joints
+    composer = FLAGS.composer
+    output_dir = FLAGS.output_dir
   else:
-    lumbar_dofs_per_vert = FLAGS['lumbar_dofs_per_vertebra'].default
-    cervical_dofs_per_vertebra = FLAGS['cervical_dofs_per_vertebra'].default
-    caudal_dofs_per_vertebra = FLAGS['caudal_dofs_per_vertebra'].default
-    make_skin = FLAGS['make_skin'].default
-
-  print('Load base model.')
-  with open(BASE_MODEL, 'r') as f:
+    lumbar_dofs_per_vert = FLAGS["lumbar_dofs_per_vertebra"].default
+    cervical_dofs_per_vertebra = FLAGS["cervical_dofs_per_vertebra"].default
+    caudal_dofs_per_vertebra = FLAGS["caudal_dofs_per_vertebra"].default
+    make_skin = FLAGS["make_skin"].default
+    use_muscles = FLAGS["use_muscles"].default
+    muscle_strength_scale = FLAGS["muscle_strength_scale"].default
+    make_muscles_skin = FLAGS["make_muscles_skin"].default
+    muscle_dynamics = FLAGS["muscle_dynamics"].default
+    add_markers = FLAGS["add_markers"].default
+    lengthrange_from_joints = FLAGS["lengthrange_from_joints"].default
+    composer = FLAGS["composer"].default
+    output_dir = FLAGS["output_dir"].default
+
+  print("Load base model.")
+  with open(os.path.join(CURRENT_DIR, BASE_MODEL), "r") as f:
     model = mjcf.from_file(f)
 
+  if not composer:
+    floor = model.worldbody.add(
+        "body", name="floor", pos=(0, 0, 0)
+    )
+    floor.add(
+        "geom",
+        name="floor",
+        type="plane",
+        conaffinity=1,
+        size=[10, 10, 0.1],
+        material="grid"
+    )
   # Helper constants:
   side_sign = {
-      '_L': np.array((1.0, -1.0, 1.0)),
-      '_R': np.array((1.0, 1.0, 1.0)),
+      "_L": np.array((1.0, -1.0, 1.0)),
+      "_R": np.array((1.0, 1.0, 1.0)),
   }
   primary_axis = {
-      '_abduct': np.array((-1.0, 0.0, 0.0)),
-      '_extend': np.array((0.0, 1.0, 0.0)),
-      '_supinate': np.array((0.0, 0.0, -1.0)),
+      "_abduct": np.array((-1.0, 0.0, 0.0)),
+      "_extend": np.array((0.0, 1.0, 0.0)),
+      "_supinate": np.array((0.0, 0.0, -1.0)),
   }
 
   # Add meshes:
-  print('Loading all meshes, getting positions and sizes.')
+  print("Loading all meshes, getting positions and sizes.")
   meshdir = ASSET_DIR
   model.compiler.meshdir = meshdir
   texturedir = ASSET_DIR
   model.compiler.texturedir = texturedir
   bones = []
+  skin_msh = None
   for dirpath, _, filenames in resources.WalkResources(meshdir):
-    prefix = 'extras/' if 'extras' in dirpath else ''
+    prefix = "extras/" if "extras" in dirpath else ""
     for filename in filenames:
-      if 'dog_skin.msh' in filename:
+      if "dog_skin.msh" in filename:
         skin_msh = model.asset.add(
-            'mesh', name='skin_msh', file=filename, scale=(1.25, 1.25, 1.25)
+            "mesh", name="dog_skin", file=filename, scale=(1.25, 1.25, 1.25)
         )
       name = filename[4:-4]
-      name = name.replace('*', ':')
-      if filename.startswith('BONE'):
-        if 'Lingual' not in name:
+      name = name.replace("*", ":")
+      if filename.startswith("BONE"):
+        if "Lingual" not in name:
           bones.append(name)
-          model.asset.add('mesh', name=name, file=prefix + filename)
+          model.asset.add("mesh", name=name, file=prefix + filename)
 
   # Put all bones in worldbody, get positions, remove bones:
   bone_geoms = []
   for bone in bones:
     geom = model.worldbody.add(
-        'geom',
+        "geom",
         name=bone,
         mesh=bone,
-        type='mesh',
+        type="mesh",
         contype=0,
         conaffinity=0,
         rgba=[1, 0.5, 0.5, 0.4],
@@ -204,36 +255,37 @@ def main(argv):
   bone_position = {}
   bone_size = {}
   for bone in bones:
-    geom = model.find('geom', bone)
+    geom = model.find("geom", bone)
     bone_position[bone] = np.array(physics.bind(geom).xpos)
     bone_size[bone] = np.array(physics.bind(geom).rbound)
     geom.remove()
 
   # Torso
-  print('Torso, lumbar spine, pelvis.')
-  pelvic_bones, lumbar_joints = build_torso.create_torso(
+  print("Torso, lumbar spine, pelvis.")
+  pelvic_bones, lumbar_joints = dog_v2.build_torso(
       model,
       bones,
       bone_position,
       lumbar_dofs_per_vert,
       side_sign,
       parent=model.worldbody,
+      composer=composer,
   )
 
-  print('Neck, skull, jaw.')
+  print("Neck, skull, jaw.")
   # Cervical spine (neck) bodies:
-  cervical_joints = build_neck.create_neck(
+  cervical_joints = dog_v2.build_neck(
       model,
       bone_position,
       cervical_dofs_per_vertebra,
       bones,
       side_sign,
       bone_size,
-      parent=model.find('body', 'torso'),
+      parent=model.find("body", "torso"),
   )
 
-  print('Back legs.')
-  nails, sole_sites = build_back_legs.create_back_legs(
+  print("Back legs.")
+  nails, sole_sites = dog_v2.build_back_legs(
       model,
       primary_axis,
       bone_position,
@@ -241,53 +293,51 @@ def main(argv):
       side_sign,
       bone_size,
       pelvic_bones,
-      parent=model.find('body', 'pelvis'),
+      parent=model.find("body", "pelvis"),
   )
 
-  print('Shoulders, front legs.')
-  palm_sites = build_front_legs.create_front_legs(
+  print("Shoulders, front legs.")
+  palm_sites = dog_v2.build_front_legs(
       nails,
       model,
       primary_axis,
       bones,
       side_sign,
-      parent=model.find('body', 'torso'),
+      parent=model.find("body", "torso"),
   )
 
-  print('Tail.')
-  caudal_joints = build_tail.create_tail(
+  print("Tail.")
+  caudal_joints = dog_v2.build_tail(
       caudal_dofs_per_vertebra,
       bone_size,
       model,
       bone_position,
-      parent=model.find('body', 'pelvis'),
+      parent=model.find("body", "pelvis"),
   )
 
-  print('Collision geoms, fixed tendons.')
+  print("Collision geoms, fixed tendons.")
   physics = mjcf.Physics.from_mjcf_model(model)
 
-  print('Unify ribcage and jaw meshes.')
-  for body in model.find_all('body'):
+  print("Unify ribcage and jaw meshes.")
+  for body in model.find_all("body"):
     body_meshes = [
         geom
         for geom in body.all_children()
-        if geom.tag == 'geom'
-        and hasattr(geom, 'mesh')
-        and geom.mesh is not None
+        if geom.tag == "geom" and hasattr(geom, "mesh") and geom.mesh is not None
     ]
     if len(body_meshes) > 10:
       mergables = [
-          ('torso', 'Ribcage'),
-          ('jaw', 'Jaw'),
-          ('skull', 'MergedSkull'),
+          ("torso", "Ribcage"),
+          ("jaw", "Jaw"),
+          ("skull", "MergedSkull"),
       ]
       for bodyname, meshname in mergables:
         if body.name == bodyname:
-          print('==== Merging ', bodyname)
+          print("==== Merging ", bodyname)
           for mesh in body_meshes:
             print(mesh.name)
           body.add(
-              'inertial',
+              "inertial",
               mass=physics.bind(body).mass,
               pos=physics.bind(body).ipos,
               quat=physics.bind(body).iquat,
@@ -295,41 +345,102 @@ def main(argv):
           )
 
           for mesh in body_meshes:
-            if 'eye' not in mesh.name:
-              model.find('mesh', mesh.name).remove()
+            if "eye" not in mesh.name:
+              model.find("mesh", mesh.name).remove()
               mesh.remove()
           body.add(
-              'geom',
+              "geom",
               name=meshname,
               mesh=meshname,
-              dclass='bone',
+              dclass="bone",
               pos=-bone_position[meshname],
           )
 
-  print('Add Actuators')
-  actuated_joints = add_torque_actuators.add_motors(
-      physics, model, lumbar_joints, cervical_joints, caudal_joints
-  )
-
-  print('Excluding contacts.')
+  print("Excluding contacts.")
   exclude_contacts(model)
 
-  if make_skin:
-    create_skin.create(model, skin_msh)
+  if make_skin and skin_msh is not None:
+    dog_v2.create_skin(model=model, mesh_file=skin_msh,
+                       asset_dir=ASSET_DIR, mesh_name="dog_skin", composer=composer)
 
-  # Add skin from .skn
-  print('Adding Skin.')
-  skin_texture = model.asset.add(
-      'texture', name='skin', file='skin_texture.png', type='2d'
-  )
-  skin_material = model.asset.add('material', name='skin', texture=skin_texture)
-  model.asset.add(
-      'skin', name='skin', file='dog_skin.skn', material=skin_material
-  )
-  skin_msh.remove()
+    # Add skin from .skn
+    print("Adding Skin.")
+    skin_texture = model.asset.add(
+        "texture", name="skin", file="skin_texture.png", type="2d"
+    )
+    skin_material = model.asset.add(
+        "material", name="skin", texture=skin_texture)
+    model.asset.add(
+        "skin",
+        name="skin",
+        file="./skins/dog_skin.skn",
+        material=skin_material,
+        group=0,
+    )
+    skin_msh.remove()
+
+  if make_muscles_skin:
+    muscle_material = model.asset.add(
+        "material", name="muscle", rgba=[0.63, 0.17, 0.17, 1]
+    )
+    for dirpath, _, filenames in resources.WalkResources(ASSET_DIR + "/muscles/"):
+      for filename in filenames:
+        if filename[-4:] not in [".obj", ".stl"]:
+          continue
+        print("filename", filename)
+        muscle_msh = model.asset.add(
+            "mesh", name=filename[:-4], file=ASSET_DIR + "/muscles/" + filename
+        )
+        dog_v2.create_skin(
+            model=model,
+            asset_dir=ASSET_DIR,
+            mesh_file=muscle_msh,
+            mesh_name=filename[:-4],
+            tex_coords=False,
+            transform=False,
+            composer=composer,
+        )
+
+        # Add skin from .skn
+        print("Adding Skin --> " + filename[:-4])
+        file_path = "./skins/" + filename[:-4] + ".skn"
+        model.asset.add(
+            "skin",
+            name=filename[:-4],
+            file=file_path,
+            material=muscle_material,
+            group=1,
+        )
+        muscle_msh.remove()
+
+  model.option.timestep = 0.005
+  model.option.integrator = "implicitfast"
+  model.option.noslip_iterations = 3
+  model.option.cone = "elliptic"
+
+  if add_markers:
+    print("Add Markers")
+    dog_v2.add_markers(model)
+
+  print("Add Actuators")
+  if use_muscles:
+    # Add wrapping geometries
+    dog_v2.add_wrapping_geoms(model)
+    # Add muscles
+    dog_v2.add_muscles(
+        model,
+        muscle_strength_scale,
+        muscle_dynamics,
+        ASSET_DIR,
+        lengthrange_from_joints,
+    )
+  else:
+    actuated_joints = dog_v2.add_torque_actuators(
+        physics, model, lumbar_joints, cervical_joints, caudal_joints
+    )
 
-  print('Removing non-essential sites.')
-  all_sites = model.find_all('site')
+  print("Removing non-essential sites.")
+  all_sites = model.find_all("site")
   for site in all_sites:
     if site.dclass is None:
       site.remove()
@@ -337,90 +448,106 @@ def main(argv):
   physics = mjcf.Physics.from_mjcf_model(model)
   # sensors
   model.sensor.add(
-      'accelerometer', name='accelerometer', site=model.find('site', 'head')
+      "accelerometer", name="accelerometer", site=model.find("site", "head")
   )
+  model.sensor.add("velocimeter", name="velocimeter",
+                   site=model.find("site", "head"))
+  model.sensor.add("gyro", name="gyro", site=model.find("site", "head"))
   model.sensor.add(
-      'velocimeter', name='velocimeter', site=model.find('site', 'head')
+      "subtreelinvel", name="torso_linvel", body=model.find("body", "torso")
   )
-  model.sensor.add('gyro', name='gyro', site=model.find('site', 'head'))
   model.sensor.add(
-      'subtreelinvel', name='torso_linvel', body=model.find('body', 'torso')
-  )
-  model.sensor.add(
-      'subtreeangmom', name='torso_angmom', body=model.find('body', 'torso')
+      "subtreeangmom", name="torso_angmom", body=model.find("body", "torso")
   )
   for site in palm_sites + sole_sites:
-    model.sensor.add('touch', name=site.name, site=site)
-  anchors = [site for site in model.find_all('site') if 'anchor' in site.name]
+    model.sensor.add("touch", name=site.name, site=site)
+  anchors = [site for site in model.find_all("site") if "anchor" in site.name]
   for site in anchors:
-    model.sensor.add('force', name=site.name.replace('_anchor', ''), site=site)
+    model.sensor.add("force", name=site.name.replace("_anchor", ""), site=site)
 
-  # Print stuff
-  joint_acts = [model.find('actuator', j.name) for j in actuated_joints]
-  print(
-      '{:20} {:>10} {:>10} {:>10} {:>10} {:>10}'.format(
-          'name', 'mass', 'damping', 'stiffness', 'ratio', 'armature'
-      )
-  )
-  for i, j in enumerate(actuated_joints):
-    dmp = physics.bind(j).damping[0]
-    mass_eff = physics.bind(j).M0[0]
-    dmp = physics.bind(j).damping[0]
-    stf = physics.bind(joint_acts[i]).gainprm[0]
-    arma = physics.bind(j).armature[0]
+  # Print torque actuators stuff
+  if not use_muscles:
+    joint_acts = [model.find("actuator", j.name) for j in actuated_joints]
     print(
-        '{:20} {:10.4} {:10} {:10.4} {:10.4} {:10}'.format(
-            j.name,
-            mass_eff,
-            dmp,
-            stf,
-            dmp / (2 * np.sqrt(mass_eff * stf)),
-            arma,
+        "{:20} {:>10} {:>10} {:>10} {:>10} {:>10}".format(
+            "name", "mass", "damping", "stiffness", "ratio", "armature"
         )
     )
+    for i, j in enumerate(actuated_joints):
+      mass_eff = physics.bind(j).M0[0]
+      dmp = physics.bind(j).damping[0]
+      stf = physics.bind(joint_acts[i]).gainprm[0]
+      arma = physics.bind(j).armature[0]
+      print(
+          "{:20} {:10.4} {:10} {:10.4} {:10.4} {:10}".format(
+              j.name,
+              mass_eff,
+              dmp,
+              stf,
+              dmp / (2 * np.sqrt(mass_eff * stf)),
+              arma,
+          )
+      )
+
+  if composer:
+    torso = model.find("body", "torso")
+    torso.pos = np.zeros(3)
 
-  print('Finalising and saving model.')
-  xml_string = model.to_xml_string('float', precision=4, zero_threshold=1e-7)
+  print("Finalising and saving model.")
+  xml_string = model.to_xml_string("float", precision=4, zero_threshold=1e-7)
   root = etree.XML(xml_string, etree.XMLParser(remove_blank_text=True))
 
-  print('Remove hashes from filenames')
-  assets = list(root.find('asset').iter())
+  print("Remove hashes from filenames")
+  assets = list(root.find("asset").iter())
   for asset in assets:
-    asset_filename = asset.get('file')
+    asset_filename = asset.get("file")
     if asset_filename is not None:
       name = asset_filename[:-4]
       extension = asset_filename[-4:]
-      asset.set('file', name[:-41] + extension)
+      if asset_filename[-3:] == "skn":
+        asset.set("file", "skins/" + name[:-41] + extension)
+      else:
+        asset.set("file", name[:-41] + extension)
 
-  print('Add <compiler meshdir/>, for locally-loadable model')
+  print("Add <compiler meshdir/>, for locally-loadable model")
   compiler = etree.Element(
-      'compiler', meshdir=ASSET_RELPATH, texturedir=ASSET_RELPATH
+      "compiler", meshdir=ASSET_RELPATH, texturedir=ASSET_RELPATH
   )
   root.insert(0, compiler)
 
   print('Remove class="/"')
-  default_elem = root.find('default')
+  default_elem = root.find("default")
   root.insert(6, default_elem[0])
   root.remove(default_elem)
   xml_string = etree.tostring(root, pretty_print=True)
-  xml_string = xml_string.replace(b' class="/"', b'')
+  xml_string = xml_string.replace(b' class="/"', b"")
 
-  print('Insert spaces between top level elements')
+  print("Insert spaces between top level elements")
   lines = xml_string.splitlines()
   newlines = []
   for line in lines:
     newlines.append(line)
-    if line.startswith(b'  <'):
-      if line.startswith(b'  </') or line.endswith(b'/>'):
-        newlines.append(b'')
-  newlines.append(b'')
-  xml_string = b'\n'.join(newlines)
+    if line.startswith(b"  <"):
+      if line.startswith(b"  </") or line.endswith(b"/>"):
+        newlines.append(b"")
+  newlines.append(b"")
+  xml_string = b"\n".join(newlines)
 
+  name_prefix = "composer_" if composer else ""
   # Save to file.
-  f = open('dog.xml', 'wb')
+  if not use_muscles:
+    name = name_prefix + "dog.xml"
+  elif muscle_strength_scale < 0:
+    name = name_prefix + "dog_muscles_{}.xml".format(muscle_dynamics)
+  else:
+    name = name_prefix + "dog_muscles_{}_{}.xml".format(
+        muscle_strength_scale, muscle_dynamics
+    )
+
+  f = open(os.path.join(output_dir, name), "wb")
   f.write(xml_string)
   f.close()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
   app.run(main)
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/build_front_legs.py b/dm_control/locomotion/walkers/assets/dog_v2/build_front_legs.py
index e059da07..88ec1e83 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/build_front_legs.py
+++ b/dm_control/locomotion/walkers/assets/dog_v2/build_front_legs.py
@@ -15,9 +15,10 @@
 
 """Make front legs for the dog model."""
 
-from dm_control import mjcf
 import numpy as np
 
+from dm_control import mjcf
+
 
 def create_front_legs(nails, model, primary_axis, bones, side_sign, parent):
   """Add front legs in the model.
@@ -34,45 +35,45 @@ def create_front_legs(nails, model, primary_axis, bones, side_sign, parent):
   Returns:
     A list of palm sites.
   """
-  def_scapula_supinate = model.default.find('default', 'scapula_supinate')
-  def_scapula_abduct = model.default.find('default', 'scapula_abduct')
-  def_scapula_extend = model.default.find('default', 'scapula_extend')
+  def_scapula_supinate = model.default.find("default", "scapula_supinate")
+  def_scapula_abduct = model.default.find("default", "scapula_abduct")
+  def_scapula_extend = model.default.find("default", "scapula_extend")
 
   scapula_defaults = {
-      '_abduct': def_scapula_abduct,
-      '_extend': def_scapula_extend,
-      '_supinate': def_scapula_supinate,
+      "_abduct": def_scapula_abduct,
+      "_extend": def_scapula_extend,
+      "_supinate": def_scapula_supinate,
   }
 
   torso = parent
   # Shoulders
   scapula = {}
-  scapulae = [b for b in bones if 'Scapula' in b]
+  scapulae = [b for b in bones if "Scapula" in b]
   scapula_pos = np.array((0.08, -0.02, 0.14))
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     body_pos = scapula_pos * side_sign[side]
-    arm = torso.add('body', name='scapula' + side, pos=body_pos)
+    arm = torso.add("body", name="scapula" + side, pos=body_pos)
     scapula[side] = arm
     for bone in [b for b in scapulae if side in b]:
       arm.add(
-          'geom', name=bone, mesh=bone, pos=-torso.pos - body_pos, dclass='bone'
+          "geom", name=bone, mesh=bone, pos=-torso.pos - body_pos, dclass="bone"
       )
 
     # Shoulder joints
-    for dof in ['_supinate', '_abduct', '_extend']:
+    for dof in ["_supinate", "_abduct", "_extend"]:
       joint_axis = primary_axis[dof].copy()
       joint_pos = scapula_defaults[dof].joint.pos.copy()
-      if dof != '_extend':
-        joint_axis *= 1.0 if side == '_R' else -1.0
+      if dof != "_extend":
+        joint_axis *= 1.0 if side == "_R" else -1.0
         joint_pos *= side_sign[side]
       else:
         joint_axis += (
-            0.3 * (1 if side == '_R' else -1) * primary_axis['_abduct']
+            0.3 * (1 if side == "_R" else -1) * primary_axis["_abduct"]
         )
       arm.add(
-          'joint',
-          name='scapula' + side + dof,
-          dclass='scapula' + dof,
+          "joint",
+          name="scapula" + side + dof,
+          dclass="scapula" + dof,
           axis=joint_axis,
           pos=joint_pos,
       )
@@ -80,8 +81,8 @@ def create_front_legs(nails, model, primary_axis, bones, side_sign, parent):
     # Shoulder sites
     shoulder_pos = np.array((0.075, -0.033, -0.13))
     arm.add(
-        'site',
-        name='shoulder' + side,
+        "site",
+        name="shoulder" + side,
         size=[0.01],
         pos=shoulder_pos * side_sign[side],
     )
@@ -89,77 +90,75 @@ def create_front_legs(nails, model, primary_axis, bones, side_sign, parent):
   # Upper Arms:
   upper_arm = {}
   parent_pos = {}
-  humeri = ['humerus_R', 'humerus_L']
-  for side in ['_L', '_R']:
+  humeri = ["humerus_R", "humerus_L"]
+  for side in ["_L", "_R"]:
     body_pos = shoulder_pos * side_sign[side]
     parent = scapula[side]
     parent_pos[side] = torso.pos + parent.pos
-    arm = parent.add('body', name='upper_arm' + side, pos=body_pos)
+    arm = parent.add("body", name="upper_arm" + side, pos=body_pos)
     upper_arm[side] = arm
     for bone in [b for b in humeri if side in b]:
       arm.add(
-          'geom',
+          "geom",
           name=bone,
           mesh=bone,
           pos=-parent_pos[side] - body_pos,
-          dclass='bone',
+          dclass="bone",
       )
     parent_pos[side] += body_pos
 
     # Shoulder joints
-    for dof in ['_supinate', '_extend']:
+    for dof in ["_supinate", "_extend"]:
       joint_axis = primary_axis[dof].copy()
-      if dof == '_supinate':
+      if dof == "_supinate":
         joint_axis[0] = 1
-        joint_axis *= 1.0 if side == '_R' else -1.0
+        joint_axis *= 1.0 if side == "_R" else -1.0
       arm.add(
-          'joint',
-          name='shoulder' + side + dof,
-          dclass='shoulder' + dof,
+          "joint",
+          name="shoulder" + side + dof,
+          dclass="shoulder" + dof,
           axis=joint_axis,
       )
 
     # Elbow sites
     elbow_pos = np.array((-0.05, -0.015, -0.145))
     arm.add(
-        'site',
-        type='cylinder',
-        name='elbow' + side,
+        "site",
+        type="cylinder",
+        name="elbow" + side,
         size=[0.003, 0.02],
-        zaxis=(0, 1, -(1.0 if side == '_R' else -1.0) * 0.2),
+        zaxis=(0, 1, -(1.0 if side == "_R" else -1.0) * 0.2),
         pos=elbow_pos * side_sign[side],
     )
 
   # Lower arms:
   lower_arm = {}
   lower_arm_bones = [
-      b
-      for b in bones
-      if 'ulna' in b.lower() or 'Radius' in b or 'accessory' in b
+      b for b in bones if "ulna" in b.lower() or "Radius" in b or "accessory" in b
   ]
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     body_pos = elbow_pos * side_sign[side]
-    arm = upper_arm[side].add('body', name='lower_arm' + side, pos=body_pos)
+    arm = upper_arm[side].add("body", name="lower_arm" + side, pos=body_pos)
     lower_arm[side] = arm
     for bone in [b for b in lower_arm_bones if side in b]:
       arm.add(
-          'geom',
+          "geom",
           name=bone,
           mesh=bone,
           pos=-parent_pos[side] - body_pos,
-          dclass='bone',
+          dclass="bone",
       )
     # Elbow joints
-    elbow_axis = upper_arm[side].find_all('site')[0].zaxis
-    arm.add('joint', name='elbow' + side, dclass='elbow', axis=elbow_axis)
+    elbow_axis = upper_arm[side].find_all("site")[0].zaxis
+    arm.add("joint", name="elbow" + side, dclass="elbow", axis=elbow_axis)
     parent_pos[side] += body_pos
 
     # Wrist sites
     wrist_pos = np.array((0.003, 0.015, -0.19))
     arm.add(
-        'site',
-        type='cylinder',
-        name='wrist' + side,
+        "site",
+        type="cylinder",
+        name="wrist" + side,
         size=[0.004, 0.017],
         zaxis=(0, 1, 0),
         pos=wrist_pos * side_sign[side],
@@ -170,44 +169,44 @@ def create_front_legs(nails, model, primary_axis, bones, side_sign, parent):
   hand_bones = [
       b
       for b in bones
-      if ('carpal' in b.lower() and 'acces' not in b and 'ulna' not in b)
-      or ('distalis_digiti_I_' in b)
+      if ("carpal" in b.lower() and "acces" not in b and "ulna" not in b)
+      or ("distalis_digiti_I_" in b)
   ]
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     body_pos = wrist_pos * side_sign[side]
     hand_anchor = lower_arm[side].add(
-        'body', name='hand_anchor' + side, pos=body_pos
+        "body", name="hand_anchor" + side, pos=body_pos
     )
     hand_anchor.add(
-        'geom',
+        "geom",
         name=hand_anchor.name,
-        dclass='foot_primitive',
-        type='box',
+        dclass="foot_primitive",
+        type="box",
         size=(0.005, 0.005, 0.005),
         contype=0,
         conaffinity=0,
     )
-    hand_anchor.add('site', name=hand_anchor.name, dclass='sensor')
-    hand = hand_anchor.add('body', name='hand' + side)
+    hand_anchor.add("site", name=hand_anchor.name, dclass="sensor")
+    hand = hand_anchor.add("body", name="hand" + side)
     hands[side] = hand
     for bone in [b for b in hand_bones if side in b]:
       hand.add(
-          'geom',
+          "geom",
           name=bone,
           mesh=bone,
           pos=-parent_pos[side] - body_pos,
-          dclass='bone',
+          dclass="bone",
       )
     # Wrist joints
-    hand.add('joint', name='wrist' + side, dclass='wrist', axis=(0, -1, 0))
+    hand.add("joint", name="wrist" + side, dclass="wrist", axis=(0, -1, 0))
     hand.add(
-        'geom',
-        name=hand.name + '_collision',
+        "geom",
+        name=hand.name + "_collision",
         size=[0.03, 0.016, 0.012],
         pos=[0.01, 0, -0.04],
         euler=(0, 65, 0),
-        dclass='collision_primitive',
-        type='box',
+        dclass="collision_primitive",
+        type="box",
     )
 
     parent_pos[side] += body_pos
@@ -215,122 +214,122 @@ def create_front_legs(nails, model, primary_axis, bones, side_sign, parent):
     # Finger sites
     finger_pos = np.array((0.02, 0, -0.06))
     hand.add(
-        'site',
-        type='cylinder',
-        name='finger' + side,
+        "site",
+        type="cylinder",
+        name="finger" + side,
         size=[0.003, 0.025],
-        zaxis=((1.0 if side == '_R' else -1.0) * 0.2, 1, 0),
+        zaxis=((1.0 if side == "_R" else -1.0) * 0.2, 1, 0),
         pos=finger_pos * side_sign[side],
     )
 
   # Fingers:
   finger_bones = [
-      b for b in bones if 'Phalanx' in b and 'distalis_digiti_I_' not in b
+      b for b in bones if "Phalanx" in b and "distalis_digiti_I_" not in b
   ]
   palm_sites = []
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     body_pos = finger_pos * side_sign[side]
-    hand = hands[side].add('body', name='finger' + side, pos=body_pos)
+    hand = hands[side].add("body", name="finger" + side, pos=body_pos)
     for bone in [b for b in finger_bones if side in b]:
       geom = hand.add(
-          'geom',
+          "geom",
           name=bone,
           mesh=bone,
           pos=-parent_pos[side] - body_pos,
-          dclass='bone',
+          dclass="bone",
       )
-      if 'distalis' in bone:
+      if "distalis" in bone:
         nails.append(bone)
-        geom.dclass = 'visible_bone'
+        geom.dclass = "visible_bone"
     # Finger joints
-    finger_axis = upper_arm[side].find_all('site')[0].zaxis
-    hand.add('joint', name='finger' + side, dclass='finger', axis=finger_axis)
+    finger_axis = upper_arm[side].find_all("site")[0].zaxis
+    hand.add("joint", name="finger" + side, dclass="finger", axis=finger_axis)
     hand.add(
-        'geom',
-        name=hand.name + '0_collision',
+        "geom",
+        name=hand.name + "0_collision",
         size=[0.018, 0.012],
         pos=[0.012, 0, -0.012],
         euler=(90, 0, 0),
-        dclass='foot_primitive',
+        dclass="foot_primitive",
     )
     hand.add(
-        'geom',
-        name=hand.name + '1_collision',
+        "geom",
+        name=hand.name + "1_collision",
         size=[0.01, 0.015],
         pos=[0.032, 0, -0.02],
         euler=(90, 0, 0),
-        dclass='foot_primitive',
+        dclass="foot_primitive",
     )
     hand.add(
-        'geom',
-        name=hand.name + '2_collision',
+        "geom",
+        name=hand.name + "2_collision",
         size=[0.008, 0.01],
         pos=[0.042, 0, -0.022],
         euler=(90, 0, 0),
-        dclass='foot_primitive',
+        dclass="foot_primitive",
     )
 
     palm = hand.add(
-        'site',
-        name='palm' + side,
+        "site",
+        name="palm" + side,
         size=(0.028, 0.03, 0.007),
         pos=(0.02, 0, -0.024),
-        type='box',
-        dclass='sensor',
+        type="box",
+        dclass="sensor",
     )
     palm_sites.append(palm)
 
   physics = mjcf.Physics.from_mjcf_model(model)
 
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     # scapula:
     scap = scapula[side]
-    geom = scap.get_children('geom')[0]
+    geom = scap.get_children("geom")[0]
     bound_geom = physics.bind(geom)
     scap.add(
-        'geom',
-        name=geom.name + '_collision',
+        "geom",
+        name=geom.name + "_collision",
         pos=bound_geom.pos,
         size=bound_geom.size * 0.8,
         quat=bound_geom.quat,
-        type='box',
-        dclass='collision_primitive',
+        type="box",
+        dclass="collision_primitive",
     )
     # upper arm:
     arm = upper_arm[side]
-    geom = arm.get_children('geom')[0]
+    geom = arm.get_children("geom")[0]
     bound_geom = physics.bind(geom)
     arm.add(
-        'geom',
-        name=geom.name + '_collision',
+        "geom",
+        name=geom.name + "_collision",
         pos=bound_geom.pos,
         size=[0.02, 0.08],
         quat=bound_geom.quat,
-        dclass='collision_primitive',
+        dclass="collision_primitive",
     )
 
-  all_geoms = model.find_all('geom')
+  all_geoms = model.find_all("geom")
   for geom in all_geoms:
-    if 'Ulna' in geom.name:
+    if "Ulna" in geom.name:
       bound_geom = physics.bind(geom)
       geom.parent.add(
-          'geom',
-          name=geom.name + '_collision',
+          "geom",
+          name=geom.name + "_collision",
           pos=bound_geom.pos,
           size=[0.015, 0.06],
           quat=bound_geom.quat,
-          dclass='collision_primitive',
+          dclass="collision_primitive",
       )
-    if 'Radius' in geom.name:
+    if "Radius" in geom.name:
       bound_geom = physics.bind(geom)
       pos = bound_geom.pos + np.array((-0.005, 0.0, -0.01))
       geom.parent.add(
-          'geom',
-          name=geom.name + '_collision',
+          "geom",
+          name=geom.name + "_collision",
           pos=pos,
           size=[0.017, 0.09],
           quat=bound_geom.quat,
-          dclass='collision_primitive',
+          dclass="collision_primitive",
       )
 
   return palm_sites
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/build_neck.py b/dm_control/locomotion/walkers/assets/dog_v2/build_neck.py
index 8435796a..e3d4e2d6 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/build_neck.py
+++ b/dm_control/locomotion/walkers/assets/dog_v2/build_neck.py
@@ -17,9 +17,10 @@
 
 import collections
 
-from dm_control import mjcf
 import numpy as np
 
+from dm_control import mjcf
+
 
 def create_neck(
     model,
@@ -47,17 +48,17 @@ def create_neck(
     A list of cervical joints.
   """
   # Cervical Spine
-  def_cervical = model.default.find('default', 'cervical')
-  def_cervical_extend = model.default.find('default', 'cervical_extend')
-  def_cervical_bend = model.default.find('default', 'cervical_bend')
-  def_cervical_twist = model.default.find('default', 'cervical_twist')
+  def_cervical = model.default.find("default", "cervical")
+  def_cervical_extend = model.default.find("default", "cervical_extend")
+  def_cervical_bend = model.default.find("default", "cervical_bend")
+  def_cervical_twist = model.default.find("default", "cervical_twist")
   cervical_defaults = {
-      'extend': def_cervical_extend,
-      'bend': def_cervical_bend,
-      'twist': def_cervical_twist,
+      "extend": def_cervical_extend,
+      "bend": def_cervical_bend,
+      "twist": def_cervical_twist,
   }
 
-  cervical_bones = ['C_' + str(i) for i in range(7, 0, -1)]
+  cervical_bones = ["C_" + str(i) for i in range(7, 0, -1)]
   parent_pos = parent.pos
   cervical_bodies = []
   cervical_geoms = []
@@ -65,16 +66,17 @@ def create_neck(
   for i, bone in enumerate(cervical_bones):
     bone_pos = bone_position[bone]
     rel_pos = bone_pos - parent_pos
-    child = parent.add('body', name=bone, pos=rel_pos)
+    child = parent.add("body", name=bone, pos=rel_pos)
     cervical_bodies.append(child)
-    dclass = 'bone' if i > 3 else 'light_bone'
-    geom = child.add('geom', name=bone, mesh=bone, pos=-bone_pos, dclass=dclass)
+    dclass = "bone" if i > 3 else "light_bone"
+    geom = child.add("geom", name=bone, mesh=bone,
+                     pos=-bone_pos, dclass=dclass)
     child.add(
-        'geom',
-        name=bone + '_collision',
-        type='sphere',
+        "geom",
+        name=bone + "_collision",
+        type="sphere",
         size=[radius],
-        dclass='nonself_collision_primitive',
+        dclass="nonself_collision_primitive",
     )
     radius -= 0.006
     cervical_geoms.append(geom)
@@ -86,35 +88,60 @@ def create_neck(
 
   # Cervical (neck) spine joints:
   cervical_axis = collections.OrderedDict()
-  cervical_axis['extend'] = np.array((0.0, 1.0, 0.0))
-  cervical_axis['bend'] = np.array((0.0, 0.0, 1.0))
-  cervical_axis['twist'] = np.array((1.0, 0.0, 0))
+  cervical_axis["extend"] = np.array((0.0, 1.0, 0.0))
+  cervical_axis["bend"] = np.array((0.0, 0.0, 1.0))
+  cervical_axis["twist"] = np.array((1.0, 0.0, 0))
+
+  neck_ranges = {
+      "C_7_extend": [-14.2, 35.4],
+      "C_7_bend": [-23.5, 23.5],
+      "C_7_twist": [-42.4, 42.4],
+      "C_6_extend": [-14.2, 35.4],
+      "C_6_bend": [-23.5, 23.5],
+      "C_6_twist": [-42.4, 42.4],
+      "C_5_extend": [-11.9, 11.2],
+      "C_5_bend": [-27.9, 27.9],
+      "C_5_twist": [-33, 33],
+      "C_4_extend": [-11.9, 11.2],
+      "C_4_bend": [-27.9, 27.9],
+      "C_4_twist": [-33, 33],
+      "C_3_extend": [-13.4, 18.3],
+      "C_3_bend": [-32, 32],
+      "C_3_twist": [-10.1, 10.1],
+      "C_2_extend": [-13.4, 18.3],
+      "C_2_bend": [-32, 32],
+      "C_2_twist": [-10.1, 10.1],
+      "C_1_extend": [-16.4, 12.9],
+      "C_1_bend": [-26, 26],
+      "C_1_twist": [-10.1, 10.1],
+  }
 
   num_dofs = 0
   cervical_joints = []
   cervical_joint_names = []
-  torso = model.find('body', 'torso')
-  parent = torso.find('geom', 'T_1')
+  torso = model.find("body", "torso")
+  parent = torso.find("geom", "T_1")
   for i, vertebra in enumerate(cervical_bodies):
     while num_dofs < (i + 1) * cervical_dofs_per_vertebra:
       dof = num_dofs % 3
       dof_name = list(cervical_axis.keys())[dof]
-      cervical_joint_names.append(vertebra.name + '_' + dof_name)
+      cervical_joint_names.append(vertebra.name + "_" + dof_name)
 
       rel_pos = physics.bind(vertebra).xpos - physics.bind(parent).xpos
       twist_dir = rel_pos / np.linalg.norm(rel_pos)
-      bend_dir = np.cross(twist_dir, cervical_axis['extend'])
-      cervical_axis['bend'] = bend_dir
-      cervical_axis['twist'] = twist_dir
-      joint_frame = np.vstack((twist_dir, cervical_axis['extend'], bend_dir))
+      bend_dir = np.cross(twist_dir, cervical_axis["extend"])
+      cervical_axis["bend"] = bend_dir
+      cervical_axis["twist"] = twist_dir
+      joint_frame = np.vstack((twist_dir, cervical_axis["extend"], bend_dir))
       joint_pos = (
           def_cervical.joint.pos
-          * physics.bind(vertebra.find('geom', vertebra.name)).size.mean()
+          * physics.bind(vertebra.find("geom", vertebra.name)).size.mean()
       )
       joint = vertebra.add(
-          'joint',
+          "joint",
           name=cervical_joint_names[-1],
-          dclass='cervical_' + dof_name,
+          dclass="cervical_" + dof_name,
+          range=neck_ranges[cervical_joint_names[-1]],
           axis=cervical_axis[dof_name],
           pos=joint_pos.dot(joint_frame),
       )
@@ -124,15 +151,14 @@ def create_neck(
 
   # Lumbar spine joints:
   lumbar_axis = collections.OrderedDict()
-  lumbar_axis['extend'] = np.array((0.0, 1.0, 0.0))
-  lumbar_axis['bend'] = np.array((0.0, 0.0, 1.0))
-  lumbar_axis['twist'] = np.array((1.0, 0.0, 0))
+  lumbar_axis["extend"] = np.array((0.0, 1.0, 0.0))
+  lumbar_axis["bend"] = np.array((0.0, 0.0, 1.0))
+  lumbar_axis["twist"] = np.array((1.0, 0.0, 0))
 
   # Scale joint defaults relative to 3 cervical_dofs_per_vertebra
   for dof in lumbar_axis.keys():
-    axis_scale = 7.0 / [dof in joint for joint in cervical_joint_names].count(
-        True
-    )
+    axis_scale = 7.0 / \
+        [dof in joint for joint in cervical_joint_names].count(True)
     cervical_defaults[dof].joint.range *= axis_scale
 
   # Reload
@@ -140,45 +166,45 @@ def create_neck(
 
   # Skull
   c_1 = cervical_bodies[-1]
-  upper_teeth = [m for m in bones if 'Top' in m]
-  skull_bones = upper_teeth + ['Skull', 'Ethmoid', 'Vomer', 'eye_L', 'eye_R']
+  upper_teeth = [m for m in bones if "Top" in m]
+  skull_bones = upper_teeth + ["Skull", "Ethmoid", "Vomer", "eye_L", "eye_R"]
   skull = c_1.add(
-      'body', name='skull', pos=bone_position['Skull'] - physics.bind(c_1).xpos
+      "body", name="skull", pos=bone_position["Skull"] - physics.bind(c_1).xpos
   )
   skull_geoms = []
   for bone in skull_bones:
     geom = skull.add(
-        'geom',
+        "geom",
         name=bone,
         mesh=bone,
-        pos=-bone_position['Skull'],
-        dclass='light_bone',
+        pos=-bone_position["Skull"],
+        dclass="light_bone",
     )
-    if 'eye' in bone:
+    if "eye" in bone:
       geom.rgba = [1, 1, 1, 1]
-      geom.dclass = 'visible_bone'
+      geom.dclass = "visible_bone"
     skull_geoms.append(geom)
     if bone in upper_teeth:
-      geom.dclass = 'visible_bone'
+      geom.dclass = "visible_bone"
 
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     pos = np.array((0.023, -0.027, 0.01)) * side_sign[side]
     skull.add(
-        'geom',
-        name='iris' + side,
-        type='ellipsoid',
-        dclass='visible_bone',
+        "geom",
+        name="iris" + side,
+        type="ellipsoid",
+        dclass="visible_bone",
         rgba=(0.45, 0.45, 0.225, 0.4),
         size=(0.003, 0.007, 0.007),
         pos=pos,
-        euler=[0, 0, -20 * (1.0 if side == '_R' else -1.0)],
+        euler=[0, 0, -20 * (1.0 if side == "_R" else -1.0)],
     )
     pos = np.array((0.0215, -0.0275, 0.01)) * side_sign[side]
     skull.add(
-        'geom',
-        name='pupil' + side,
-        type='sphere',
-        dclass='visible_bone',
+        "geom",
+        name="pupil" + side,
+        type="sphere",
+        dclass="visible_bone",
         rgba=(0, 0, 0, 1),
         size=(0.003, 0, 0),
         pos=pos,
@@ -186,83 +212,82 @@ def create_neck(
 
   # collision geoms
   skull.add(
-      'geom',
-      name='skull0' + '_collision',
-      type='ellipsoid',
-      dclass='collision_primitive',
+      "geom",
+      name="skull0" + "_collision",
+      type="ellipsoid",
+      dclass="collision_primitive",
       size=(0.06, 0.06, 0.04),
       pos=(-0.02, 0, 0.01),
       euler=[0, 10, 0],
   )
   skull.add(
-      'geom',
-      name='skull1' + '_collision',
-      type='capsule',
-      dclass='collision_primitive',
+      "geom",
+      name="skull1" + "_collision",
+      type="capsule",
+      dclass="collision_primitive",
       size=(0.015, 0.04, 0.015),
       pos=(0.06, 0, -0.01),
       euler=[0, 110, 0],
   )
   skull.add(
-      'geom',
-      name='skull2' + '_collision',
-      type='box',
-      dclass='collision_primitive',
+      "geom",
+      name="skull2" + "_collision",
+      type="box",
+      dclass="collision_primitive",
       size=(0.03, 0.028, 0.008),
       pos=(0.02, 0, -0.03),
   )
   skull.add(
-      'geom',
-      name='skull3' + '_collision',
-      type='box',
-      dclass='collision_primitive',
+      "geom",
+      name="skull3" + "_collision",
+      type="box",
+      dclass="collision_primitive",
       size=(0.02, 0.018, 0.006),
       pos=(0.07, 0, -0.03),
   )
   skull.add(
-      'geom',
-      name='skull4' + '_collision',
-      type='box',
-      dclass='collision_primitive',
+      "geom",
+      name="skull4" + "_collision",
+      type="box",
+      dclass="collision_primitive",
       size=(0.005, 0.015, 0.004),
       pos=(0.095, 0, -0.03),
   )
 
   skull.add(
-      'joint',
-      name='atlas',
-      dclass='atlas',
-      pos=np.array((-0.5, 0, 0)) * bone_size['Skull'],
+      "joint",
+      name="atlas",
+      dclass="atlas",
+      pos=np.array((-0.5, 0, 0)) * bone_size["Skull"],
   )
 
+  skull.add("site", name="head", size=(
+      0.01, 0.01, 0.01), type="box", dclass="sensor")
   skull.add(
-      'site', name='head', size=(0.01, 0.01, 0.01), type='box', dclass='sensor'
-  )
-  skull.add(
-      'site',
-      name='upper_bite',
+      "site",
+      name="upper_bite",
       size=(0.005,),
-      dclass='sensor',
+      dclass="sensor",
       pos=(0.065, 0, -0.07),
   )
   # Jaw
-  lower_teeth = [m for m in bones if 'Bottom' in m]
-  jaw_bones = lower_teeth + ['Mandible']
+  lower_teeth = [m for m in bones if "Bottom" in m]
+  jaw_bones = lower_teeth + ["Mandible"]
   jaw = skull.add(
-      'body', name='jaw', pos=bone_position['Mandible'] - bone_position['Skull']
+      "body", name="jaw", pos=bone_position["Mandible"] - bone_position["Skull"]
   )
   jaw_geoms = []
   for bone in jaw_bones:
     geom = jaw.add(
-        'geom',
+        "geom",
         name=bone,
         mesh=bone,
-        pos=-bone_position['Mandible'],
-        dclass='light_bone',
+        pos=-bone_position["Mandible"],
+        dclass="light_bone",
     )
     jaw_geoms.append(geom)
     if bone in lower_teeth:
-      geom.dclass = 'visible_bone'
+      geom.dclass = "visible_bone"
   # Jaw collision geoms:
   jaw_col_pos = [
       (-0.03, 0, 0.01),
@@ -279,49 +304,49 @@ def create_neck(
   jaw_col_angle = [55, 30, 25, 15]
   for i in range(4):
     jaw.add(
-        'geom',
-        name='jaw' + str(i) + '_collision',
-        type='box',
-        dclass='collision_primitive',
+        "geom",
+        name="jaw" + str(i) + "_collision",
+        type="box",
+        dclass="collision_primitive",
         size=jaw_col_size[i],
         pos=jaw_col_pos[i],
         euler=[0, jaw_col_angle[i], 0],
     )
 
   jaw.add(
-      'joint',
-      name='mandible',
-      dclass='mandible',
+      "joint",
+      name="mandible",
+      dclass="mandible",
       axis=[0, 1, 0],
       pos=np.array((-0.043, 0, 0.05)),
   )
   jaw.add(
-      'site',
-      name='lower_bite',
+      "site",
+      name="lower_bite",
       size=(0.005,),
-      dclass='sensor',
+      dclass="sensor",
       pos=(0.063, 0, 0.005),
   )
 
-  print('Make collision ellipsoids for teeth.')
+  print("Make collision ellipsoids for teeth.")
   visible_bones = upper_teeth + lower_teeth
   for bone in visible_bones:
-    bone_geom = torso.find('geom', bone)
-    bone_geom.type = 'ellipsoid'
+    bone_geom = torso.find("geom", bone)
+    bone_geom.type = "ellipsoid"
   physics = mjcf.Physics.from_mjcf_model(model)
   for bone in visible_bones:
-    bone_geom = torso.find('geom', bone)
+    bone_geom = torso.find("geom", bone)
     pos = physics.bind(bone_geom).pos
     quat = physics.bind(bone_geom).quat
     size = physics.bind(bone_geom).size
     bone_geom.parent.add(
-        'geom',
-        name=bone + '_collision',
-        dclass='tooth_primitive',
+        "geom",
+        name=bone + "_collision",
+        dclass="tooth_primitive",
         pos=pos,
         size=size * 1.2,
         quat=quat,
-        type='ellipsoid',
+        type="ellipsoid",
     )
     bone_geom.type = None
 
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/build_tail.py b/dm_control/locomotion/walkers/assets/dog_v2/build_tail.py
index 40740bda..3218b685 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/build_tail.py
+++ b/dm_control/locomotion/walkers/assets/dog_v2/build_tail.py
@@ -17,13 +17,12 @@
 
 import collections
 
-from dm_control import mjcf
 import numpy as np
 
+from dm_control import mjcf
+
 
-def create_tail(
-    caudal_dofs_per_vertebra, bone_size, model, bone_position, parent
-):
+def create_tail(caudal_dofs_per_vertebra, bone_size, model, bone_position, parent):
   """Add tail in the dog model.
 
   Args:
@@ -38,8 +37,8 @@ def create_tail(
     A list of caudal joints.
   """
   # Caudal spine (tail) bodies:
-  caudal_bones = ['Ca_' + str(i + 1) for i in range(21)]
-  parent_pos = bone_position['Pelvis']
+  caudal_bones = ["Ca_" + str(i + 1) for i in range(21)]
+  parent_pos = bone_position["Pelvis"]
   caudal_bodies = []
   caudal_geoms = []
   for bone in caudal_bones:
@@ -47,9 +46,10 @@ def create_tail(
     rel_pos = bone_pos - parent_pos
     xyaxes = np.hstack((-rel_pos, (0, 1, 0)))
     xyaxes[1] = 0
-    child = parent.add('body', name=bone, pos=rel_pos)
+    child = parent.add("body", name=bone, pos=rel_pos)
     caudal_bodies.append(child)
-    geom = child.add('geom', name=bone, mesh=bone, pos=-bone_pos, dclass='bone')
+    geom = child.add("geom", name=bone, mesh=bone,
+                     pos=-bone_pos, dclass="bone")
     caudal_geoms.append(geom)
     parent = child
     parent_pos = bone_pos
@@ -59,29 +59,29 @@ def create_tail(
 
   # Caudal spine joints:
   caudal_axis = collections.OrderedDict()
-  caudal_axis['extend'] = np.array((0.0, 1.0, 0.0))
+  caudal_axis["extend"] = np.array((0.0, 1.0, 0.0))
 
   scale = np.asarray([bone_size[bone] for bone in caudal_bones]).mean()
   joint_pos = np.array((0.3, 0, 0.26)) * scale
   num_dofs = 0
   caudal_joints = []
   caudal_joint_names = []
-  parent = model.find('geom', 'Sacrum')
+  parent = model.find("geom", "Sacrum")
   for i, vertebra in enumerate(caudal_bodies):
     while num_dofs < (i + 1) * caudal_dofs_per_vertebra:
       dof = num_dofs % 2
       dof_name = list(caudal_axis.keys())[dof]
-      caudal_joint_names.append(vertebra.name + '_' + dof_name)
+      caudal_joint_names.append(vertebra.name + "_" + dof_name)
       rel_pos = physics.bind(parent).xpos - physics.bind(vertebra).xpos
       twist_dir = rel_pos / np.linalg.norm(rel_pos)
-      bend_dir = np.cross(caudal_axis['extend'], twist_dir)
-      caudal_axis['bend'] = bend_dir
+      bend_dir = np.cross(caudal_axis["extend"], twist_dir)
+      caudal_axis["bend"] = bend_dir
       joint_pos = twist_dir * physics.bind(caudal_geoms[i]).size[2]
 
       joint = vertebra.add(
-          'joint',
+          "joint",
           name=caudal_joint_names[-1],
-          dclass='caudal_' + dof_name,
+          dclass="caudal_" + dof_name,
           axis=caudal_axis[dof_name],
           pos=joint_pos,
       )
@@ -89,22 +89,22 @@ def create_tail(
       num_dofs += 1
     parent = vertebra
 
-  parent.add('site', name='tail_tip', dclass='sensor', size=(0.005,))
+  parent.add("site", name="tail_tip", dclass="sensor", size=(0.005,))
 
   physics = mjcf.Physics.from_mjcf_model(model)
-  all_geoms = model.find_all('geom')
+  all_geoms = model.find_all("geom")
 
   for geom in all_geoms:
-    if 'Ca_' in geom.name:
+    if "Ca_" in geom.name:
       sc = (float(geom.name[3:]) + 1) / 4
       scale = np.array((1.2, sc, 1))
       bound_geom = physics.bind(geom)
       geom.parent.add(
-          'geom',
-          name=geom.name + '_collision',
+          "geom",
+          name=geom.name + "_collision",
           pos=bound_geom.pos,
           size=bound_geom.size * scale,
           quat=bound_geom.quat,
-          dclass='collision_primitive',
+          dclass="collision_primitive",
       )
   return caudal_joints
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/build_torso.py b/dm_control/locomotion/walkers/assets/dog_v2/build_torso.py
index dcaf3bba..8fef6c1b 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/build_torso.py
+++ b/dm_control/locomotion/walkers/assets/dog_v2/build_torso.py
@@ -17,12 +17,13 @@
 
 import collections
 
-from dm_control import mjcf
 import numpy as np
 
+from dm_control import mjcf
+
 
 def create_torso(
-    model, bones, bone_position, lumbar_dofs_per_vertebra, side_sign, parent
+    model, bones, bone_position, lumbar_dofs_per_vertebra, side_sign, parent, composer
 ):
   """Add torso in the dog model.
 
@@ -35,61 +36,62 @@ def create_torso(
     side_sign: a dictionary with two axis representing the signs of
       translations.
     parent: parent object on which we should start attaching new components.
-
+    composer: boolean to determine if a model used by the composer is being created.
   Returns:
     The tuple `(pelvic_bones, lumbar_joints)`.
   """
   # Lumbar Spine
-  def_lumbar_extend = model.default.find('default', 'lumbar_extend')
-  def_lumbar_bend = model.default.find('default', 'lumbar_bend')
-  def_lumbar_twist = model.default.find('default', 'lumbar_twist')
+  def_lumbar_extend = model.default.find("default", "lumbar_extend")
+  def_lumbar_bend = model.default.find("default", "lumbar_bend")
+  def_lumbar_twist = model.default.find("default", "lumbar_twist")
   lumbar_defaults = {
-      'extend': def_lumbar_extend,
-      'bend': def_lumbar_bend,
-      'twist': def_lumbar_twist,
+      "extend": def_lumbar_extend,
+      "bend": def_lumbar_bend,
+      "twist": def_lumbar_twist,
   }
 
-  thoracic_spine = [m for m in bones if 'T_' in m]
-  ribs = [m for m in bones if 'Rib' in m and 'cage' not in m]
-  sternum = [m for m in bones if 'Sternum' in m]
+  thoracic_spine = [m for m in bones if "T_" in m]
+  ribs = [m for m in bones if "Rib" in m and "cage" not in m]
+  sternum = [m for m in bones if "Sternum" in m]
   torso_bones = thoracic_spine + ribs + sternum  # + ['Xiphoid_cartilage']
-  torso = parent.add('body', name='torso')
-  torso.add('freejoint', name='root')
-  torso.add('site', name='root', size=(0.01,), rgba=[0, 1, 0, 1])
-  torso.add('light', name='light', mode='trackcom', pos=[0, 0, 3])
+  torso = parent.add("body", name="torso")
+
+  if not composer:
+    torso.add("freejoint", name="root")
+
+  torso.add("site", name="root", size=(0.01,), rgba=[0, 1, 0, 1])
+  torso.add("light", name="light", mode="trackcom", pos=[0, 0, 3])
   torso.add(
-      'camera',
-      name='y-axis',
-      mode='trackcom',
+      "camera",
+      name="y-axis",
+      mode="trackcom",
       pos=[0, -1.5, 0.8],
       xyaxes=[1, 0, 0, 0, 0.6, 1],
   )
   torso.add(
-      'camera',
-      name='x-axis',
-      mode='trackcom',
+      "camera",
+      name="x-axis",
+      mode="trackcom",
       pos=[2, 0, 0.5],
       xyaxes=[0, 1, 0, -0.3, 0, 1],
   )
   torso_geoms = []
   for bone in torso_bones:
     torso_geoms.append(
-        torso.add('geom', name=bone, mesh=bone, dclass='light_bone')
-    )
+        torso.add("geom", name=bone, mesh=bone, dclass="light_bone"))
 
   # Reload, get CoM position, set pos
   physics = mjcf.Physics.from_mjcf_model(model)
-  torso_pos = np.array(physics.bind(model.find('body', 'torso')).xipos)
+  torso_pos = np.array(physics.bind(model.find("body", "torso")).xipos)
   torso.pos = torso_pos
   for geom in torso_geoms:
     geom.pos = -torso_pos
-
   # Collision primitive for torso
   torso.add(
-      'geom',
-      name='collision_torso',
-      dclass='nonself_collision_primitive',
-      type='ellipsoid',
+      "geom",
+      name="collision_torso",
+      dclass="nonself_collision_primitive",
+      type="ellipsoid",
       pos=[0, 0, 0],
       size=[0.2, 0.09, 0.11],
       euler=[0, 10, 0],
@@ -97,23 +99,24 @@ def create_torso(
   )
 
   # Lumbar spine bodies:
-  lumbar_bones = ['L_1', 'L_2', 'L_3', 'L_4', 'L_5', 'L_6', 'L_7']
+  lumbar_bones = ["L_1", "L_2", "L_3", "L_4", "L_5", "L_6", "L_7"]
   parent = torso
   parent_pos = torso_pos
   lumbar_bodies = []
   lumbar_geoms = []
   for i, bone in enumerate(lumbar_bones):
     bone_pos = bone_position[bone]
-    child = parent.add('body', name=bone, pos=bone_pos - parent_pos)
+    child = parent.add("body", name=bone, pos=bone_pos - parent_pos)
     lumbar_bodies.append(child)
-    geom = child.add('geom', name=bone, mesh=bone, pos=-bone_pos, dclass='bone')
+    geom = child.add("geom", name=bone, mesh=bone,
+                     pos=-bone_pos, dclass="bone")
     child.add(
-        'geom',
-        name=bone + '_collision',
-        type='sphere',
+        "geom",
+        name=bone + "_collision",
+        type="sphere",
         size=[0.05],
         pos=[0, 0, -0.02],
-        dclass='nonself_collision_primitive',
+        dclass="nonself_collision_primitive",
     )
     lumbar_geoms.append(geom)
     parent = child
@@ -122,9 +125,9 @@ def create_torso(
 
   # Lumbar spine joints:
   lumbar_axis = collections.OrderedDict()
-  lumbar_axis['extend'] = np.array((0.0, 1.0, 0.0))
-  lumbar_axis['bend'] = np.array((0.0, 0.0, 1.0))
-  lumbar_axis['twist'] = np.array((1.0, 0.0, 0))
+  lumbar_axis["extend"] = np.array((0.0, 1.0, 0.0))
+  lumbar_axis["bend"] = np.array((0.0, 0.0, 1.0))
+  lumbar_axis["twist"] = np.array((1.0, 0.0, 0))
 
   num_dofs = 0
   lumbar_joints = []
@@ -134,11 +137,11 @@ def create_torso(
       dof = num_dofs % 3
       dof_name = list(lumbar_axis.keys())[dof]
       dof_axis = lumbar_axis[dof_name]
-      lumbar_joint_names.append(vertebra.name + '_' + dof_name)
+      lumbar_joint_names.append(vertebra.name + "_" + dof_name)
       joint = vertebra.add(
-          'joint',
+          "joint",
           name=lumbar_joint_names[-1],
-          dclass='lumbar_' + dof_name,
+          dclass="lumbar_" + dof_name,
           axis=dof_axis,
       )
       lumbar_joints.append(joint)
@@ -146,36 +149,35 @@ def create_torso(
 
   # Scale joint defaults relative to 3 lumbar_dofs_per_veterbra
   for dof in lumbar_axis.keys():
-    axis_scale = 7.0 / [dof in joint for joint in lumbar_joint_names].count(
-        True
-    )
+    axis_scale = 7.0 / \
+        [dof in joint for joint in lumbar_joint_names].count(True)
     lumbar_defaults[dof].joint.range *= axis_scale
 
   # Pelvis:
   pelvis = l_7.add(
-      'body', name='pelvis', pos=bone_position['Pelvis'] - bone_position['L_7']
+      "body", name="pelvis", pos=bone_position["Pelvis"] - bone_position["L_7"]
   )
-  pelvic_bones = ['Sacrum', 'Pelvis']
+  pelvic_bones = ["Sacrum", "Pelvis"]
   pelvic_geoms = []
   for bone in pelvic_bones:
     geom = pelvis.add(
-        'geom',
+        "geom",
         name=bone,
         mesh=bone,
-        pos=-bone_position['Pelvis'],
-        dclass='bone',
+        pos=-bone_position["Pelvis"],
+        dclass="bone",
     )
     pelvic_geoms.append(geom)
   # Collision primitives for pelvis
-  for side in ['_L', '_R']:
+  for side in ["_L", "_R"]:
     pos = np.array((0.01, -0.02, -0.01)) * side_sign[side]
     pelvis.add(
-        'geom',
-        name='collision_pelvis' + side,
+        "geom",
+        name="collision_pelvis" + side,
         pos=pos,
         size=[0.05, 0.05, 0],
         euler=[0, 70, 0],
-        dclass='nonself_collision_primitive',
+        dclass="nonself_collision_primitive",
     )
 
   return pelvic_bones, lumbar_joints
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/create_skin.py b/dm_control/locomotion/walkers/assets/dog_v2/create_skin.py
index 3ef74f0e..6a695e0b 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/create_skin.py
+++ b/dm_control/locomotion/walkers/assets/dog_v2/create_skin.py
@@ -17,56 +17,71 @@
 
 import struct
 
-from dm_control import mjcf
-from dm_control.mujoco.wrapper.mjbindings import enums
 import numpy as np
 from scipy import spatial
 
+from dm_control import mjcf
+from dm_control.mujoco.wrapper.mjbindings import enums
+
 
-def create(model, skin_msh):
+def create(model, mesh_file, mesh_name, asset_dir, tex_coords=True, transform=True, composer=False):
   """Create and add skin in the dog model.
 
   Args:
     model: model in which we want to add the skin.
-    skin_msh: a binary mesh format of the skin.
+    mesh_file: a binary mesh format of the skin.
+    mesh_name: the name of the skin to use in the xml
+    asset_dir: asset directory to load the .skn file
+    tex_coords: boolean to indicate if the mesh has texture coordinates.
+    transform: a boolean to rotate mesh orientation by 90 degrees along the z-axis.
+    composer: boolean to determine if a model used by the composer is being created.
   """
-  print('Making Skin.')
   # Add skin mesh:
-  skinmesh = model.worldbody.add(
-      'geom',
-      name='skinmesh',
-      mesh='skin_msh',
-      type='mesh',
-      contype=0,
-      conaffinity=0,
-      rgba=[1, 0.5, 0.5, 0.5],
-      group=1,
-      euler=(0, 0, 90),
-  )
+  if transform:
+    skinmesh = model.worldbody.add(
+        "geom",
+        name=mesh_name,
+        mesh=mesh_name,
+        type="mesh",
+        contype=0,
+        conaffinity=0,
+        rgba=[1, 0.5, 0.5, 0.5],
+        group=1,
+        euler=(0, 0, 90),
+    )
+  else:
+    skinmesh = model.worldbody.add(
+        "geom",
+        name=mesh_name,
+        mesh=mesh_name,
+        type="mesh",
+        contype=0,
+        conaffinity=0,
+    )
   physics = mjcf.Physics.from_mjcf_model(model)
 
   # Get skinmesh vertices in global coordinates
-  vertadr = physics.named.model.mesh_vertadr['skin_msh']
-  vertnum = physics.named.model.mesh_vertnum['skin_msh']
-  skin_vertices = physics.model.mesh_vert[vertadr : vertadr + vertnum, :]
+  vertadr = physics.named.model.mesh_vertadr[mesh_name]
+  vertnum = physics.named.model.mesh_vertnum[mesh_name]
+  skin_vertices = physics.model.mesh_vert[vertadr: vertadr + vertnum, :]
   skin_vertices = skin_vertices.dot(
-      physics.named.data.geom_xmat['skinmesh'].reshape(3, 3).T
+      physics.named.data.geom_xmat[mesh_name].reshape(3, 3).T
   )
-  skin_vertices += physics.named.data.geom_xpos['skinmesh']
-  skin_normals = physics.model.mesh_normal[vertadr : vertadr + vertnum, :]
+  skin_vertices += physics.named.data.geom_xpos[mesh_name]
+  skin_normals = physics.model.mesh_normal[vertadr: vertadr + vertnum, :]
   skin_normals = skin_normals.dot(
-      physics.named.data.geom_xmat['skinmesh'].reshape(3, 3).T
+      physics.named.data.geom_xmat[mesh_name].reshape(3, 3).T
   )
-  skin_normals += physics.named.data.geom_xpos['skinmesh']
+  skin_normals += physics.named.data.geom_xpos[mesh_name]
 
   # Get skinmesh faces
-  faceadr = physics.named.model.mesh_faceadr['skin_msh']
-  facenum = physics.named.model.mesh_facenum['skin_msh']
-  skin_faces = physics.model.mesh_face[faceadr : faceadr + facenum, :]
+  faceadr = physics.named.model.mesh_faceadr[mesh_name]
+  facenum = physics.named.model.mesh_facenum[mesh_name]
+  skin_faces = physics.model.mesh_face[faceadr: faceadr + facenum, :]
 
   # Make skin
   skin = model.asset.add(
-      'skin', name='skin', vertex=skin_vertices.ravel(), face=skin_faces.ravel()
+      "skin", name="skin_tmp", vertex=skin_vertices.ravel(), face=skin_faces.ravel()
   )
 
   # Functions for capsule vertices
@@ -117,8 +132,9 @@ def box(sx, sy, sz):
 
   # Find smallest distance between
   # each skin vertex and vertices of all meshes in body i
-  distance = np.zeros((skin_vertices.shape[0], physics.model.nbody))
-  for i in range(1, physics.model.nbody):
+  distance = np.ones((skin_vertices.shape[0], physics.model.nbody)) * 1e6
+  start = 1 if composer else 2  # in composer mode we don't have the floor
+  for i in range(start, physics.model.nbody):
     geom_id = np.argwhere(physics.model.geom_bodyid == i).ravel()
     mesh_id = physics.model.geom_dataid[geom_id]
     body_verts = []
@@ -127,7 +143,7 @@ def box(sx, sy, sz):
       if physics.model.geom_type[gid] == enums.mjtGeom.mjGEOM_MESH:
         vertadr = physics.model.mesh_vertadr[mesh_id[k]]
         vertnum = physics.model.mesh_vertnum[mesh_id[k]]
-        vertices = physics.model.mesh_vert[vertadr : vertadr + vertnum, :]
+        vertices = physics.model.mesh_vert[vertadr: vertadr + vertnum, :]
       elif physics.model.geom_type[gid] == enums.mjtGeom.mjGEOM_CAPSULE:
         radius = physics.model.geom_size[gid, 0]
         height = physics.model.geom_size[gid, 1]
@@ -161,13 +177,13 @@ def box(sx, sy, sz):
   weights[weights < threshold] = 0
   weights /= np.atleast_2d(np.sum(weights, axis=1)).T
 
-  for i in range(1, physics.model.nbody):
+  for i in range(start, physics.model.nbody):
     vertweight = weights[weights[:, i - 1] >= threshold, i - 1]
     vertid = np.argwhere(weights[:, i - 1] >= threshold).ravel()
     if vertid.any():
       skin.add(
-          'bone',
-          body=physics.model.id2name(i, 'body'),
+          "bone",
+          body=physics.model.id2name(i, "body"),
           bindquat=[1, 0, 0, 0],
           bindpos=physics.data.xpos[i, :],
           vertid=vertid,
@@ -179,31 +195,38 @@ def box(sx, sy, sz):
 
   # Convert skin into *.skn file according to
   # https://mujoco.readthedocs.io/en/latest/XMLreference.html#asset-skin
-  f = open('dog_skin.skn', 'w+b')
+  f = open(asset_dir + "/skins/" + mesh_name + ".skn", "w+b")
+
   nvert = skin.vertex.size // 3
-  f.write(
-      struct.pack(
-          '4i', nvert, nvert, skin.face.size // 3, physics.model.nbody - 1
-      )
-  )
-  f.write(struct.pack(str(skin.vertex.size) + 'f', *skin.vertex))
-  assert physics.model.mesh_texcoord.shape[0] == physics.bind(skin_msh).vertnum
-  f.write(
-      struct.pack(str(2 * nvert) + 'f', *physics.model.mesh_texcoord.flatten())
-  )
-  f.write(struct.pack(str(skin.face.size) + 'i', *skin.face))
+
+  if tex_coords:
+    n_tex_coord = nvert
+  else:
+    n_tex_coord = 0
+  f.write(struct.pack("4i", nvert, n_tex_coord,
+          skin.face.size // 3, len(skin.bone)))
+  f.write(struct.pack(str(skin.vertex.size) + "f", *skin.vertex))
+
+  if n_tex_coord:
+    assert physics.model.mesh_texcoord.shape[0] == physics.bind(
+        mesh_file).vertnum
+    f.write(
+        struct.pack(str(2 * nvert) + "f", *
+                    physics.model.mesh_texcoord.flatten())
+    )
+
+  f.write(struct.pack(str(skin.face.size) + "i", *skin.face))
   for bone in skin.bone:
     name_length = len(bone.body)
     assert name_length <= 40
-    f.write(
-        struct.pack(str(name_length) + 'c', *[s.encode() for s in bone.body])
-    )
-    f.write((40 - name_length) * b'\x00')
-    f.write(struct.pack('3f', *bone.bindpos))
-    f.write(struct.pack('4f', *bone.bindquat))
-    f.write(struct.pack('i', bone.vertid.size))
-    f.write(struct.pack(str(bone.vertid.size) + 'i', *bone.vertid))
-    f.write(struct.pack(str(bone.vertid.size) + 'f', *bone.vertweight))
+    f.write(struct.pack(str(name_length) + "c",
+            *[s.encode() for s in bone.body]))
+    f.write((40 - name_length) * b"\x00")
+    f.write(struct.pack("3f", *bone.bindpos))
+    f.write(struct.pack("4f", *bone.bindquat))
+    f.write(struct.pack("i", bone.vertid.size))
+    f.write(struct.pack(str(bone.vertid.size) + "i", *bone.vertid))
+    f.write(struct.pack(str(bone.vertid.size) + "f", *bone.vertweight))
   f.close()
 
   # Remove XML-based skin, add binary skin.
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/dog.xml b/dm_control/locomotion/walkers/assets/dog_v2/dog.xml
index daf7f537..04e7441a 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/dog.xml
+++ b/dm_control/locomotion/walkers/assets/dog_v2/dog.xml
@@ -1,14 +1,15 @@
 <mujoco model="dog">
   <compiler meshdir="../../../../suite/dog_assets" texturedir="../../../../suite/dog_assets"/>
 
-  <option timestep="0.005" noslip_iterations="4"/>
+  <option timestep="0.005" integrator="implicitfast" cone="elliptic" noslip_iterations="3"/>
 
-  <size njmax="900" nconmax="300" nkey="1"/>
+  <size memory="100M"/>
 
   <visual>
     <global offwidth="1920" offheight="1080"/>
-    <map znear="0.001"/>
-    <scale jointlength="8" jointwidth="0.5" framelength="2" framewidth="0.3"/>
+    <headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1"/>
+    <map znear="0.01"/>
+    <scale jointlength="8" jointwidth="0.01" framelength="0.3" framewidth="0.01"/>
   </visual>
 
   <statistic meansize="0.01" extent="1"/>
@@ -16,10 +17,10 @@
   <default>
     <joint limited="true" solreflimit="0.01 1" solimplimit="0.9 0.99 0.01" stiffness="0.1" armature="0.0001" damping="0.01"/>
     <geom friction="0.9" solref="0.01 1" solimp="0.95 0.99 0.001"/>
-    <tendon rgba="0.5 0 0 1"/>
+    <tendon width="0.005" rgba="0.5 0 0 1"/>
     <general ctrllimited="true" ctrlrange="-1 1" dyntype="filter" dynprm="0.05" gainprm="0.02"/>
     <default class="bone">
-      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.5 0.5 0.5 1" density="1100"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.69 0.65 0.58 1" density="1100"/>
       <default class="light_bone">
         <geom density="300"/>
       </default>
@@ -49,20 +50,20 @@
       <joint group="3" pos="0.012 0 0.01" armature="0.01" damping="3"/>
       <general gainprm="40"/>
       <default class="lumbar_extend">
-        <joint stiffness="30" range="-42.88 42.88"/>
+        <joint stiffness="30" range="-22.75 22.75"/>
         <general gainprm="60"/>
       </default>
       <default class="lumbar_bend">
-        <joint stiffness="45" range="-36.75 36.75"/>
+        <joint stiffness="45" range="-26.25 26.25"/>
       </default>
       <default class="lumbar_twist">
-        <joint stiffness="45" range="-38.11 38.11"/>
+        <joint stiffness="45" range="-23.33 23.33"/>
       </default>
     </default>
     <default class="cervical">
-      <joint group="3" pos="-0.7 0 0" stiffness="4" armature="0.01" damping="3"/>
+      <joint group="3" pos="-0.7 0 0" stiffness="5" armature="0.01" damping="5"/>
       <default class="cervical_extend">
-        <joint range="-30.62 107.2"/>
+        <joint range="-30.62 52.5"/>
         <general gainprm="20"/>
       </default>
       <default class="cervical_bend">
@@ -99,15 +100,15 @@
         <joint range="-20 20"/>
       </default>
       <default class="hip_abduct">
-        <joint range="-30 90"/>
+        <joint range="-50 10"/>
       </default>
       <default class="hip_extend">
-        <joint range="-130 60"/>
+        <joint range="-115 60"/>
         <general gainprm="40"/>
       </default>
     </default>
     <default class="knee">
-      <joint range="-120 10" damping="0.5"/>
+      <joint range="-95 25" damping="0.5"/>
       <general gainprm="30"/>
     </default>
     <default class="ankle">
@@ -157,10 +158,21 @@
     <default class="sensor">
       <site group="4"/>
     </default>
+    <default class="wrapping">
+      <geom type="cylinder" contype="0" conaffinity="0" group="2" rgba="0 0 1 1" mass="0" euler="90 0 0"/>
+      <site group="2" rgba="0 0 1 1"/>
+    </default>
+    <default class="marker">
+      <site group="3" rgba="1 0.5 0 0.5" size="0.01 0.01 0.01"/>
+    </default>
+    <default class="mocap_marker">
+      <site group="3" rgba="0 1 0 0.5" size="0.01 0.01 0.01"/>
+    </default>
   </default>
 
   <asset>
     <texture name="grid" type="2d" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" mark="edge" markrgb="0.2 0.3 0.4" width="300" height="300"/>
+    <texture name="skybox" type="skybox" builtin="gradient" rgb1="0.4 0.6 0.8" rgb2="0 0 0" mark="random" markrgb="1 1 1" width="800" height="800"/>
     <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance="0.2"/>
     <mesh name="Fibula_R" file="BONEFibula_R.stl"/>
     <mesh name="Tarsus_L_III" file="BONETarsus_L_III.stl"/>
@@ -327,18 +339,283 @@
     <mesh name="Phalanx_media_digiti_IV_R" file="BONEPhalanx_media_digiti_IV_R.stl"/>
     <texture name="skin" type="2d" file="skin_texture.png"/>
     <material name="skin" texture="skin"/>
-    <skin name="skin" file="dog_skin.skn" material="skin"/>
+    <skin name="skin" file="skins/dog_skin.skn" material="skin" group="0"/>
+    <material name="muscle" rgba="0.63 0.17 0.17 1"/>
+    <skin name="m_levator_caudae_brevis_R1" file="skins/m_levator_caudae_brevis_R1.skn" material="muscle" group="1"/>
+    <skin name="m_anconeus_L" file="skins/m_anconeus_L.skn" material="muscle" group="1"/>
+    <skin name="m_teres_major_L" file="skins/m_teres_major_L.skn" material="muscle" group="1"/>
+    <skin name="m_levator_caudae_longus_R" file="skins/m_levator_caudae_longus_R.skn" material="muscle" group="1"/>
+    <skin name="m_biceps_brachii_L" file="skins/m_biceps_brachii_L.skn" material="muscle" group="1"/>
+    <skin name="m_serratus_dorsalis_caudalis_R3" file="skins/m_serratus_dorsalis_caudalis_R3.skn" material="muscle" group="1"/>
+    <skin name="m_serratus_dorsalis_caudalis_R2" file="skins/m_serratus_dorsalis_caudalis_R2.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_longus_L" file="skins/m_extensor_digitorum_longus_L.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_med_R" file="skins/m_vastus_med_R.skn" material="muscle" group="1"/>
+    <skin name="m_deltoideus_acromialis_L" file="skins/m_deltoideus_acromialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_long_L(2)" file="skins/m_triceps_brachii_long_L(2).skn" material="muscle" group="1"/>
+    <skin name="m_psoas_minor_L" file="skins/m_psoas_minor_L.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_digitorum_superficialis_L.001" file="skins/m_flexor_digitorum_superficialis_L.001.skn" material="muscle" group="1"/>
+    <skin name="m_supraspinatus_R" file="skins/m_supraspinatus_R.skn" material="muscle" group="1"/>
+    <skin name="m_thoracis_m_pectoralis_profundus" file="skins/m_thoracis_m_pectoralis_profundus.skn" material="muscle" group="1"/>
+    <skin name="m_longus_capitis_L" file="skins/m_longus_capitis_L.skn" material="muscle" group="1"/>
+    <skin name="m_biceps_femoris_R" file="skins/m_biceps_femoris_R.skn" material="muscle" group="1"/>
+    <skin name="m_popliteus_R" file="skins/m_popliteus_R.skn" material="muscle" group="1"/>
+    <skin name="m_levator_caudae_brevis_R2" file="skins/m_levator_caudae_brevis_R2.skn" material="muscle" group="1"/>
+    <skin name="m_splenius_L" file="skins/m_splenius_L.skn" material="muscle" group="1"/>
+    <skin name="m_semitendinosus_L" file="skins/m_semitendinosus_L.skn" material="muscle" group="1"/>
+    <skin name="m_geniohyoideus_L" file="skins/m_geniohyoideus_L.skn" material="muscle" group="1"/>
+    <skin name="m_intercostals_ext_R" file="skins/m_intercostals_ext_R.skn" material="muscle" group="1"/>
+    <skin name="m_abductor_cruris_R" file="skins/m_abductor_cruris_R.skn" material="muscle" group="1"/>
+    <skin name="m_coccygeus_R" file="skins/m_coccygeus_R.skn" material="muscle" group="1"/>
+    <skin name="m_sternohyroideus_L" file="skins/m_sternohyroideus_L.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_capri_radialis_L" file="skins/m_flexor_capri_radialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_thoracis_L" file="skins/m_longissimus_thoracis_L.skn" material="muscle" group="1"/>
+    <skin name="m_deltoideus_scapularis_R" file="skins/m_deltoideus_scapularis_R.skn" material="muscle" group="1"/>
+    <skin name="m_serratus_dorsalis_caudalis_R1" file="skins/m_serratus_dorsalis_caudalis_R1.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_digitorum_profundus_R(2)" file="skins/m_flexor_digitorum_profundus_R(2).skn" material="muscle" group="1"/>
+    <skin name="m_supinator_R" file="skins/m_supinator_R.skn" material="muscle" group="1"/>
+    <skin name="m_orbicularis_oris_L" file="skins/m_orbicularis_oris_L.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_lat_L" file="skins/m_vastus_lat_L.skn" material="muscle" group="1"/>
+    <skin name="m_levator_labii_sup_L" file="skins/m_levator_labii_sup_L.skn" material="muscle" group="1"/>
+    <skin name="m_Ligament" file="skins/m_Ligament.skn" material="muscle" group="1"/>
+    <skin name="m_gemellus_R" file="skins/m_gemellus_R.skn" material="muscle" group="1"/>
+    <skin name="m_retractor_anguli_oculi_R" file="skins/m_retractor_anguli_oculi_R.skn" material="muscle" group="1"/>
+    <skin name="m_dorsi_scaleni_dors_R" file="skins/m_dorsi_scaleni_dors_R.skn" material="muscle" group="1"/>
+    <skin name="m_tibialis_caudalis_R" file="skins/m_tibialis_caudalis_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_capitis_caudalis_R" file="skins/m_obliquus_capitis_caudalis_R.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_medial_L" file="skins/m_triceps_brachii_medial_L.skn" material="muscle" group="1"/>
+    <skin name="m_sternothyroideus_R" file="skins/m_sternothyroideus_R.skn" material="muscle" group="1"/>
+    <skin name="m_abductor_pollicis_longus_R" file="skins/m_abductor_pollicis_longus_R.skn" material="muscle" group="1"/>
+    <skin name="m_tibialis_cranialis_L" file="skins/m_tibialis_cranialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_cervicis_R" file="skins/m_longissimus_cervicis_R.skn" material="muscle" group="1"/>
+    <skin name="m_sartorius_L(2)" file="skins/m_sartorius_L(2).skn" material="muscle" group="1"/>
+    <skin name="m_depressor_caudae_brevis_R2" file="skins/m_depressor_caudae_brevis_R2.skn" material="muscle" group="1"/>
+    <skin name="m_pronator_quadratus_L" file="skins/m_pronator_quadratus_L.skn" material="muscle" group="1"/>
+    <skin name="m_gluteus_superficialis_major_R" file="skins/m_gluteus_superficialis_major_R.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_intermedius_L" file="skins/m_vastus_intermedius_L.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_digitorum_superficialis_L" file="skins/m_flexor_digitorum_superficialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_Skutulum_L" file="skins/m_Skutulum_L.skn" material="muscle" group="1"/>
+    <skin name="m_buccinator_L" file="skins/m_buccinator_L.skn" material="muscle" group="1"/>
+    <skin name="m_brachialis_R" file="skins/m_brachialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_lateralis_L" file="skins/m_rectus_capitis_lateralis_L.skn" material="muscle" group="1"/>
+    <skin name="m_caninus_R" file="skins/m_caninus_R.skn" material="muscle" group="1"/>
+    <skin name="m_rhomboideus_R" file="skins/m_rhomboideus_R.skn" material="muscle" group="1"/>
+    <skin name="m_peroneus_longus_L" file="skins/m_peroneus_longus_L.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_lateralis_R" file="skins/m_extensor_digitorum_lateralis_R.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_capitis_R(2)" file="skins/m_longissimus_capitis_R(2).skn" material="muscle" group="1"/>
+    <skin name="m_abdominis_Aponeurosis" file="skins/m_abdominis_Aponeurosis.skn" material="muscle" group="1"/>
+    <skin name="m_pronator_teres_L" file="skins/m_pronator_teres_L.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_long_L" file="skins/m_triceps_brachii_long_L.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_dorsalis_major_R" file="skins/m_rectus_capitis_dorsalis_major_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_int_abdominis_R" file="skins/m_obliquus_int_abdominis_R.skn" material="muscle" group="1"/>
+    <skin name="m_gastrocnemius_R" file="skins/m_gastrocnemius_R.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_lat_L" file="skins/m_extensor_digitorum_lat_L.skn" material="muscle" group="1"/>
+    <skin name="m_quadratus_femoris_R" file="skins/m_quadratus_femoris_R.skn" material="muscle" group="1"/>
+    <skin name="m_sartorius_R" file="skins/m_sartorius_R.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_lat_ander_fascia_lata_L" file="skins/m_vastus_lat_ander_fascia_lata_L.skn" material="muscle" group="1"/>
+    <skin name="m_adductor_magnus_L" file="skins/m_adductor_magnus_L.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_carpi_ulnaris_L" file="skins/m_flexor_carpi_ulnaris_L.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_ext_abdominis_R" file="skins/m_obliquus_ext_abdominis_R.skn" material="muscle" group="1"/>
+    <skin name="m_tricepsbrachii_lateral_R" file="skins/m_tricepsbrachii_lateral_R.skn" material="muscle" group="1"/>
+    <skin name="m_zygomaticus_R" file="skins/m_zygomaticus_R.skn" material="muscle" group="1"/>
+    <skin name="m_digastricus_L" file="skins/m_digastricus_L.skn" material="muscle" group="1"/>
+    <skin name="m_orbicularis_oculi" file="skins/m_orbicularis_oculi.skn" material="muscle" group="1"/>
+    <skin name="m_capsularis_R" file="skins/m_capsularis_R.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_capri_ulnaris_L" file="skins/m_extensor_capri_ulnaris_L.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_lateral_L" file="skins/m_triceps_brachii_lateral_L.skn" material="muscle" group="1"/>
+    <skin name="m_gluteus_profundus_minor_L" file="skins/m_gluteus_profundus_minor_L.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_capitis_L" file="skins/m_longissimus_capitis_L.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_thoracis_R" file="skins/m_rectus_thoracis_R.skn" material="muscle" group="1"/>
+    <skin name="m_peroneus_brevis_R" file="skins/m_peroneus_brevis_R.skn" material="muscle" group="1"/>
+    <skin name="m_tranversus_abdominis_L" file="skins/m_tranversus_abdominis_L.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_abdominis_R" file="skins/m_rectus_abdominis_R.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_femoris_L" file="skins/m_rectus_femoris_L.skn" material="muscle" group="1"/>
+    <skin name="m_adductor_longus_R" file="skins/m_adductor_longus_R.skn" material="muscle" group="1"/>
+    <skin name="m_coracobrachialis_R" file="skins/m_coracobrachialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_transverses_thoracis_R" file="skins/m_transverses_thoracis_R.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_digitorum_profundus_L(2)" file="skins/m_flexor_digitorum_profundus_L(2).skn" material="muscle" group="1"/>
+    <skin name="m_biceps_femoris_tendon_L" file="skins/m_biceps_femoris_tendon_L.skn" material="muscle" group="1"/>
+    <skin name="m_serratus_dorsalis_cranialis_L" file="skins/m_serratus_dorsalis_cranialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_sternocephalicus_L" file="skins/m_sternocephalicus_L.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_ventr_L" file="skins/m_rectus_capitis_ventr_L.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_dorsalis_minor_R" file="skins/m_rectus_capitis_dorsalis_minor_R.skn" material="muscle" group="1"/>
+    <skin name="m_gracilis_L" file="skins/m_gracilis_L.skn" material="muscle" group="1"/>
+    <skin name="m_iliacus_R" file="skins/m_iliacus_R.skn" material="muscle" group="1"/>
+    <skin name="m_latissimus_dors_L" file="skins/m_latissimus_dors_L.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_digitorum_profundus_R" file="skins/m_flexor_digitorum_profundus_R.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_long_R(2)" file="skins/m_triceps_brachii_long_R(2).skn" material="muscle" group="1"/>
+    <skin name="m_depressor_caudae_brevis_L2" file="skins/m_depressor_caudae_brevis_L2.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_capri_radialis_R" file="skins/m_extensor_capri_radialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_semimembranosus_R" file="skins/m_semimembranosus_R.skn" material="muscle" group="1"/>
+    <skin name="m_tensor_f.latae_R" file="skins/m_tensor_f.latae_R.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_lumborum_L" file="skins/m_longissimus_lumborum_L.skn" material="muscle" group="1"/>
+    <skin name="m_levator_caudae_brevis_L2" file="skins/m_levator_caudae_brevis_L2.skn" material="muscle" group="1"/>
+    <skin name="m_temporalis_L" file="skins/m_temporalis_L.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_communis_L" file="skins/m_extensor_digitorum_communis_L.skn" material="muscle" group="1"/>
+    <skin name="m_pectineus_R" file="skins/m_pectineus_R.skn" material="muscle" group="1"/>
+    <skin name="m_psoas_major_L" file="skins/m_psoas_major_L.skn" material="muscle" group="1"/>
+    <skin name="m_trapezius" file="skins/m_trapezius.skn" material="muscle" group="1"/>
+    <skin name="m_serratus_dorsalis_caudalis_L1" file="skins/m_serratus_dorsalis_caudalis_L1.skn" material="muscle" group="1"/>
+    <skin name="m_pterygoideus_med_R" file="skins/m_pterygoideus_med_R.skn" material="muscle" group="1"/>
+    <skin name="m_obturatorius_int_R" file="skins/m_obturatorius_int_R.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_capitis_L(2)" file="skins/m_longissimus_capitis_L(2).skn" material="muscle" group="1"/>
+    <skin name="m_masseter_R" file="skins/m_masseter_R.skn" material="muscle" group="1"/>
+    <skin name="m_levator_ani_R" file="skins/m_levator_ani_R.skn" material="muscle" group="1"/>
+    <skin name="m_teres_minor_L" file="skins/m_teres_minor_L.skn" material="muscle" group="1"/>
+    <skin name="m_dorsi_Fascia_thoracolumbar_" file="skins/m_dorsi_Fascia_thoracolumbar_.skn" material="muscle" group="1"/>
+    <skin name="m_Eye_L" file="skins/m_Eye_L.skn" material="muscle" group="1"/>
+    <skin name="m_levator_caudae_brevis_L1" file="skins/m_levator_caudae_brevis_L1.skn" material="muscle" group="1"/>
+    <skin name="m_gluteus_medius_R" file="skins/m_gluteus_medius_R.skn" material="muscle" group="1"/>
+    <skin name="m_omotransversarius_L" file="skins/m_omotransversarius_L.skn" material="muscle" group="1"/>
+    <skin name="m_serratus_dorsalis_caudalis_L3" file="skins/m_serratus_dorsalis_caudalis_L3.skn" material="muscle" group="1"/>
+    <skin name="m_depressor_caudae_brevis_L" file="skins/m_depressor_caudae_brevis_L.skn" material="muscle" group="1"/>
+    <skin name="m_subscapularis_L" file="skins/m_subscapularis_L.skn" material="muscle" group="1"/>
+    <skin name="m_intercostals_ext.L" file="skins/m_intercostals_ext.L.skn" material="muscle" group="1"/>
+    <skin name="m_tensor_f.antebrachii_L" file="skins/m_tensor_f.antebrachii_L.skn" material="muscle" group="1"/>
+    <skin name="m_serratus_dorsalis_caudalis_L2" file="skins/m_serratus_dorsalis_caudalis_L2.skn" material="muscle" group="1"/>
+    <skin name="m_pterygoideus_lat_L" file="skins/m_pterygoideus_lat_L.skn" material="muscle" group="1"/>
+    <skin name="m_infraspinatus_L" file="skins/m_infraspinatus_L.skn" material="muscle" group="1"/>
+    <skin name="m_obturatorius_ext_L" file="skins/m_obturatorius_ext_L.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_capitis_cranialis_R" file="skins/m_obliquus_capitis_cranialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_thoracis_serratus_ventr_R" file="skins/m_thoracis_serratus_ventr_R.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_accessory_L" file="skins/m_triceps_brachii_accessory_L.skn" material="muscle" group="1"/>
+    <skin name="m_levator_caudae_brevis_L" file="skins/m_levator_caudae_brevis_L.skn" material="muscle" group="1"/>
+    <skin name="m_sartorius_R(2)" file="skins/m_sartorius_R(2).skn" material="muscle" group="1"/>
+    <skin name="m_flexor_carpi_ulnaris_R" file="skins/m_flexor_carpi_ulnaris_R.skn" material="muscle" group="1"/>
+    <skin name="m_adductor_magnus_R" file="skins/m_adductor_magnus_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_ext_abdominis_L" file="skins/m_obliquus_ext_abdominis_L.skn" material="muscle" group="1"/>
+    <skin name="m_zygomaticus_L" file="skins/m_zygomaticus_L.skn" material="muscle" group="1"/>
+    <skin name="m_digastricus_R" file="skins/m_digastricus_R.skn" material="muscle" group="1"/>
+    <skin name="m_capsularis_L" file="skins/m_capsularis_L.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_capri_ulnaris_R" file="skins/m_extensor_capri_ulnaris_R.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_capitis_R" file="skins/m_longissimus_capitis_R.skn" material="muscle" group="1"/>
+    <skin name="m_gluteus_profundus_minor_R" file="skins/m_gluteus_profundus_minor_R.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_thoracis_L" file="skins/m_rectus_thoracis_L.skn" material="muscle" group="1"/>
+    <skin name="m_peroneus_brevis_L" file="skins/m_peroneus_brevis_L.skn" material="muscle" group="1"/>
+    <skin name="m_tranversus_abdominis_R" file="skins/m_tranversus_abdominis_R.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_abdominis_L" file="skins/m_rectus_abdominis_L.skn" material="muscle" group="1"/>
+    <skin name="m_adductor_longus_L" file="skins/m_adductor_longus_L.skn" material="muscle" group="1"/>
+    <skin name="m_coracobrachialis_L" file="skins/m_coracobrachialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_femoris_R" file="skins/m_rectus_femoris_R.skn" material="muscle" group="1"/>
+    <skin name="m_transverses_thoracis_L" file="skins/m_transverses_thoracis_L.skn" material="muscle" group="1"/>
+    <skin name="m_buccinator_R(2)" file="skins/m_buccinator_R(2).skn" material="muscle" group="1"/>
+    <skin name="m_biceps_femoris_tendon_R" file="skins/m_biceps_femoris_tendon_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_capitis_cranialis_R(2)" file="skins/m_obliquus_capitis_cranialis_R(2).skn" material="muscle" group="1"/>
+    <skin name="m_serratus_dorsalis_cranialis_R" file="skins/m_serratus_dorsalis_cranialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_sternocephalicus_R" file="skins/m_sternocephalicus_R.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_ventr_R" file="skins/m_rectus_capitis_ventr_R.skn" material="muscle" group="1"/>
+    <skin name="m_brachiocephalicus" file="skins/m_brachiocephalicus.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_dorsalis_minor_L" file="skins/m_rectus_capitis_dorsalis_minor_L.skn" material="muscle" group="1"/>
+    <skin name="m_gracilis_R" file="skins/m_gracilis_R.skn" material="muscle" group="1"/>
+    <skin name="m_iliacus_L" file="skins/m_iliacus_L.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_digitorum_profundus_L" file="skins/m_flexor_digitorum_profundus_L.skn" material="muscle" group="1"/>
+    <skin name="m_latissimus_dors_R" file="skins/m_latissimus_dors_R.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_capri_radialis_L" file="skins/m_extensor_capri_radialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_semimembranosus_L" file="skins/m_semimembranosus_L.skn" material="muscle" group="1"/>
+    <skin name="m_tensor_f.latae_L" file="skins/m_tensor_f.latae_L.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_lumborum_R" file="skins/m_longissimus_lumborum_R.skn" material="muscle" group="1"/>
+    <skin name="m_temporalis_R" file="skins/m_temporalis_R.skn" material="muscle" group="1"/>
+    <skin name="m_mylohyoideus" file="skins/m_mylohyoideus.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_communis_R" file="skins/m_extensor_digitorum_communis_R.skn" material="muscle" group="1"/>
+    <skin name="m_pectineus_L" file="skins/m_pectineus_L.skn" material="muscle" group="1"/>
+    <skin name="m_psoas_major_R" file="skins/m_psoas_major_R.skn" material="muscle" group="1"/>
+    <skin name="m_intercostals_int.L" file="skins/m_intercostals_int.L.skn" material="muscle" group="1"/>
+    <skin name="m_pterygoideus_med_L" file="skins/m_pterygoideus_med_L.skn" material="muscle" group="1"/>
+    <skin name="m_obturatorius_int_L" file="skins/m_obturatorius_int_L.skn" material="muscle" group="1"/>
+    <skin name="m_masseter_L" file="skins/m_masseter_L.skn" material="muscle" group="1"/>
+    <skin name="m_levator_ani_L" file="skins/m_levator_ani_L.skn" material="muscle" group="1"/>
+    <skin name="m_teres_minor_R" file="skins/m_teres_minor_R.skn" material="muscle" group="1"/>
+    <skin name="m_interscutularis" file="skins/m_interscutularis.skn" material="muscle" group="1"/>
+    <skin name="m_Eye_R" file="skins/m_Eye_R.skn" material="muscle" group="1"/>
+    <skin name="m_depressor_caudae_brevis_R2(2)" file="skins/m_depressor_caudae_brevis_R2(2).skn" material="muscle" group="1"/>
+    <skin name="m_gluteus_medius_L" file="skins/m_gluteus_medius_L.skn" material="muscle" group="1"/>
+    <skin name="m_omotransversarius_R" file="skins/m_omotransversarius_R.skn" material="muscle" group="1"/>
+    <skin name="m_depressor_caudae_brevis_R" file="skins/m_depressor_caudae_brevis_R.skn" material="muscle" group="1"/>
+    <skin name="m_subscapularis_R" file="skins/m_subscapularis_R.skn" material="muscle" group="1"/>
+    <skin name="m_tensor_f.antebrachii_R" file="skins/m_tensor_f.antebrachii_R.skn" material="muscle" group="1"/>
+    <skin name="m_pterygoideus_lat_R" file="skins/m_pterygoideus_lat_R.skn" material="muscle" group="1"/>
+    <skin name="m_infraspinatus_R" file="skins/m_infraspinatus_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_capitis_cranialis_L" file="skins/m_obliquus_capitis_cranialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_obturatorius_ext_R" file="skins/m_obturatorius_ext_R.skn" material="muscle" group="1"/>
+    <skin name="m_levator_caudae_brevis_R" file="skins/m_levator_caudae_brevis_R.skn" material="muscle" group="1"/>
+    <skin name="m_thoracis_serratus_ventr_L" file="skins/m_thoracis_serratus_ventr_L.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_accessory_R" file="skins/m_triceps_brachii_accessory_R.skn" material="muscle" group="1"/>
+    <skin name="m_pectorales_superficiales_1" file="skins/m_pectorales_superficiales_1.skn" material="muscle" group="1"/>
+    <skin name="m_anconeus_R" file="skins/m_anconeus_R.skn" material="muscle" group="1"/>
+    <skin name="m_intercostals_int_R" file="skins/m_intercostals_int_R.skn" material="muscle" group="1"/>
+    <skin name="m_teres_major_R" file="skins/m_teres_major_R.skn" material="muscle" group="1"/>
+    <skin name="m_biceps_brachii_R" file="skins/m_biceps_brachii_R.skn" material="muscle" group="1"/>
+    <skin name="m_levator_caudae_longus_L" file="skins/m_levator_caudae_longus_L.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_capitis_cranialis_L(2)" file="skins/m_obliquus_capitis_cranialis_L(2).skn" material="muscle" group="1"/>
+    <skin name="m_depressor_caudae_brevis_L2(2)" file="skins/m_depressor_caudae_brevis_L2(2).skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_longus_R" file="skins/m_extensor_digitorum_longus_R.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_med_L" file="skins/m_vastus_med_L.skn" material="muscle" group="1"/>
+    <skin name="m_deltoideus_acromialis_R" file="skins/m_deltoideus_acromialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_psoas_minor_R" file="skins/m_psoas_minor_R.skn" material="muscle" group="1"/>
+    <skin name="m_supraspinatus_L" file="skins/m_supraspinatus_L.skn" material="muscle" group="1"/>
+    <skin name="m_longus_capitis_R" file="skins/m_longus_capitis_R.skn" material="muscle" group="1"/>
+    <skin name="m_biceps_femoris_L" file="skins/m_biceps_femoris_L.skn" material="muscle" group="1"/>
+    <skin name="m_popliteus_L" file="skins/m_popliteus_L.skn" material="muscle" group="1"/>
+    <skin name="m_semitendinosus_R" file="skins/m_semitendinosus_R.skn" material="muscle" group="1"/>
+    <skin name="m_geniohyoideus_R" file="skins/m_geniohyoideus_R.skn" material="muscle" group="1"/>
+    <skin name="m_splenius_R" file="skins/m_splenius_R.skn" material="muscle" group="1"/>
+    <skin name="m_pectorales_superficiales_2" file="skins/m_pectorales_superficiales_2.skn" material="muscle" group="1"/>
+    <skin name="m_coccygeus_L" file="skins/m_coccygeus_L.skn" material="muscle" group="1"/>
+    <skin name="m_abductor_cruris_L" file="skins/m_abductor_cruris_L.skn" material="muscle" group="1"/>
+    <skin name="m_sternohyroideus_R" file="skins/m_sternohyroideus_R.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_capri_radialis_R" file="skins/m_flexor_capri_radialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_Nose" file="skins/m_Nose.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_thoracis_R" file="skins/m_longissimus_thoracis_R.skn" material="muscle" group="1"/>
+    <skin name="m_deltoideus_scapularis_L" file="skins/m_deltoideus_scapularis_L.skn" material="muscle" group="1"/>
+    <skin name="m_orbicularis_oris_R" file="skins/m_orbicularis_oris_R.skn" material="muscle" group="1"/>
+    <skin name="m_supinator_L" file="skins/m_supinator_L.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_lat_R" file="skins/m_vastus_lat_R.skn" material="muscle" group="1"/>
+    <skin name="m_levator_labii_sup_R" file="skins/m_levator_labii_sup_R.skn" material="muscle" group="1"/>
+    <skin name="m_buccinator_L(2)" file="skins/m_buccinator_L(2).skn" material="muscle" group="1"/>
+    <skin name="m_retractor_anguli_oculi_L" file="skins/m_retractor_anguli_oculi_L.skn" material="muscle" group="1"/>
+    <skin name="m_gemellus_L" file="skins/m_gemellus_L.skn" material="muscle" group="1"/>
+    <skin name="m_dorsi_scaleni_dors_L" file="skins/m_dorsi_scaleni_dors_L.skn" material="muscle" group="1"/>
+    <skin name="m_diaphragma" file="skins/m_diaphragma.skn" material="muscle" group="1"/>
+    <skin name="m_tibialis_caudalis_L" file="skins/m_tibialis_caudalis_L.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_medial_R" file="skins/m_triceps_brachii_medial_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_capitis_caudalis_L" file="skins/m_obliquus_capitis_caudalis_L.skn" material="muscle" group="1"/>
+    <skin name="m_sternothyroideus_L" file="skins/m_sternothyroideus_L.skn" material="muscle" group="1"/>
+    <skin name="m_tibialis_cranialis_R" file="skins/m_tibialis_cranialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_abductor_pollicis_longus_L" file="skins/m_abductor_pollicis_longus_L.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_cervicis_L" file="skins/m_longissimus_cervicis_L.skn" material="muscle" group="1"/>
+    <skin name="m_pronator_quadratus_R" file="skins/m_pronator_quadratus_R.skn" material="muscle" group="1"/>
+    <skin name="m_gluteus_superficialis_major_L" file="skins/m_gluteus_superficialis_major_L.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_intermedius_R" file="skins/m_vastus_intermedius_R.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_digitorum_superficialis_R" file="skins/m_flexor_digitorum_superficialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_buccinator_R" file="skins/m_buccinator_R.skn" material="muscle" group="1"/>
+    <skin name="m_Skutulum_R" file="skins/m_Skutulum_R.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_lateralis_R" file="skins/m_rectus_capitis_lateralis_R.skn" material="muscle" group="1"/>
+    <skin name="m_brachialis_L" file="skins/m_brachialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_rhomboideus_L" file="skins/m_rhomboideus_L.skn" material="muscle" group="1"/>
+    <skin name="m_caninus_L" file="skins/m_caninus_L.skn" material="muscle" group="1"/>
+    <skin name="m_peroneus_longus_R" file="skins/m_peroneus_longus_R.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_lateralis_L" file="skins/m_extensor_digitorum_lateralis_L.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_dorsalis_major_L" file="skins/m_rectus_capitis_dorsalis_major_L.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_long_R" file="skins/m_triceps_brachii_long_R.skn" material="muscle" group="1"/>
+    <skin name="m_pronator_teres_R" file="skins/m_pronator_teres_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_int_abdominis_L" file="skins/m_obliquus_int_abdominis_L.skn" material="muscle" group="1"/>
+    <skin name="m_gastrocnemius_L" file="skins/m_gastrocnemius_L.skn" material="muscle" group="1"/>
+    <skin name="m_quadratus_femoris_L" file="skins/m_quadratus_femoris_L.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_lat_R" file="skins/m_extensor_digitorum_lat_R.skn" material="muscle" group="1"/>
+    <skin name="m_sartorius_L" file="skins/m_sartorius_L.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_lat_ander_fascia_lata_R" file="skins/m_vastus_lat_ander_fascia_lata_R.skn" material="muscle" group="1"/>
   </asset>
 
   <worldbody>
-    <geom name="floor" type="plane" conaffinity="1" size="10 10 0.1" material="grid"/>
-    <body name="torso" pos="0.0404 0 0.4152">
+    <body name="floor" pos="0 0 0">
+      <geom name="floor" type="plane" conaffinity="1" size="10 10 0.1" material="grid"/>
+    </body>
+    <body name="torso" pos="0.03792 0 0.4186">
       <freejoint name="root"/>
       <light name="light" mode="trackcom" pos="0 0 3"/>
       <camera name="y-axis" mode="trackcom" pos="0 -1.5 0.8" xyaxes="1 0 0 0 0.6 1"/>
       <camera name="x-axis" mode="trackcom" pos="2 0 0.5" xyaxes="0 1 0 -0.3 0 1"/>
       <geom name="collision_torso" class="nonself_collision_primitive" type="ellipsoid" size="0.2 0.09 0.11" density="200" pos="0 0 0" euler="0 10 0"/>
-      <body name="L_1" pos="-0.1235 0 0.09286">
+      <body name="L_1" pos="-0.121 0 0.0895">
         <geom name="L_1" class="bone" pos="0.08309 0 -0.5081" mesh="L_1"/>
         <geom name="L_1_collision" class="nonself_collision_primitive" type="sphere" size="0.05" pos="0 0 -0.02"/>
         <body name="L_2" pos="-0.02302 0 0.0009603">
@@ -418,7 +695,7 @@
                               </body>
                             </body>
                           </body>
-                          <geom name="lower_leg_L_collision" class="collision_primitive" size="0.02 0.1" pos="-0.09513 -1.177e-05 -0.06865" quat="0.8005 0.187 0.4209 0.3835"/>
+                          <geom name="lower_leg_L_collision" class="collision_primitive" size="0.02 0.1" pos="-0.09531 0.000114 -0.06862" quat="0.8025 0.1849 0.4218 0.3793"/>
                         </body>
                       </body>
                       <body name="upper_leg_R" pos="-0.01811 -0.04724 -0.0126">
@@ -473,7 +750,7 @@
                               </body>
                             </body>
                           </body>
-                          <geom name="lower_leg_R_collision" class="collision_primitive" size="0.02 0.1" pos="-0.09513 1.172e-05 -0.06865" quat="0.3835 0.4209 0.187 0.8005"/>
+                          <geom name="lower_leg_R_collision" class="collision_primitive" size="0.02 0.1" pos="-0.09531 -0.000114 -0.06862" quat="0.3793 0.4218 0.1849 0.8025"/>
                         </body>
                       </body>
                       <body name="Ca_1" pos="0.008246 0 0.04354">
@@ -599,7 +876,7 @@
         <joint name="L_1_extend" class="lumbar_extend" axis="0 1 0"/>
         <joint name="L_1_bend" class="lumbar_bend" axis="0 0 1"/>
       </body>
-      <body name="C_7" pos="0.1433 0 0.08689">
+      <body name="C_7" pos="0.1458 0 0.08353">
         <geom name="C_7" class="light_bone" pos="-0.1837 0 -0.5021" mesh="C_7"/>
         <geom name="C_7_collision" class="nonself_collision_primitive" type="sphere" size="0.07"/>
         <body name="C_6" pos="0.01819 0 0.009342">
@@ -620,8 +897,8 @@
                   <body name="C_1" pos="0.02309 0 0.03212">
                     <geom name="C_1" class="bone" pos="-0.2631 0 -0.6767" mesh="C_1"/>
                     <geom name="C_1_collision" class="nonself_collision_primitive" type="sphere" size="0.034"/>
-                    <joint name="C_1_extend" class="cervical_extend" pos="-0.01147 0 -0.01595" axis="0 1 0"/>
-                    <joint name="C_1_bend" class="cervical_bend" pos="-0.01147 0 -0.01595" axis="-0.8119 0 0.5837"/>
+                    <joint name="C_1_extend" class="cervical_extend" pos="-0.01147 0 -0.01595" axis="0 1 0" range="-16.4 12.9"/>
+                    <joint name="C_1_bend" class="cervical_bend" pos="-0.01147 0 -0.01595" axis="-0.8119 0 0.5837" range="-26 26"/>
                     <body name="skull" pos="0.07792 0 0.01783">
                       <geom name="eye_L" class="visible_bone" rgba="1 1 1 1" pos="-0.341 0 -0.6945" mesh="eye_L"/>
                       <geom name="eye_R" class="visible_bone" rgba="1 1 1 1" pos="-0.341 0 -0.6945" mesh="eye_R"/>
@@ -666,7 +943,7 @@
                         <geom name="Incisors_Bottom_R_2_collision" class="tooth_primitive" type="ellipsoid" size="0.001254 0.001718 0.007304" pos="0.06876 -0.00565 -0.03294" quat="0.2463 0.4941 0.04671 0.8325"/>
                         <geom name="Incisors_Bottom_R_3_collision" class="tooth_primitive" type="ellipsoid" size="0.001485 0.001894 0.007572" pos="0.06678 -0.009306 -0.0316" quat="0.4149 0.4413 0.07161 0.7925"/>
                         <geom name="Incisors_Bottom_R_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001279 0.001692 0.007546" pos="0.06955 -0.002027 -0.03336" quat="0.002788 0.5069 -0.004741 0.862"/>
-                        <inertial pos="-0.0006685 0 -0.001474" quat="0 0.8952 0 0.4456" mass="0.1384" diaginertia="0.000223 0.000193 6.535e-05"/>
+                        <inertial pos="-0.001402 0 -0.002262" quat="0 0.8897 0 0.4566" mass="0.08282" diaginertia="0.0001313 0.0001146 3.607e-05"/>
                         <geom name="Jaw" class="bone" pos="-0.356 0 -0.6325" mesh="Jaw"/>
                       </body>
                       <geom name="Molars_Top_1L_collision" class="tooth_primitive" type="ellipsoid" size="0.004616 0.006227 0.00653" pos="0.0197 0.02796 -0.04033" quat="-0.1696 0.7939 0.228 0.5375"/>
@@ -689,72 +966,72 @@
                       <geom name="Premolars_Top_R_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001716 0.002936 0.005556" pos="0.07323 -0.01581 -0.03909" quat="0.6732 -0.1308 -0.01398 0.7276"/>
                       <geom name="Premolars_Top_R_3_collision" class="tooth_primitive" type="ellipsoid" size="0.002255 0.005977 0.006518" pos="0.05089 -0.02105 -0.03949" quat="0.1946 0.4704 0.7868 0.3489"/>
                       <geom name="Premolars_Top_R_2_collision" class="tooth_primitive" type="ellipsoid" size="0.002204 0.005472 0.006079" pos="0.0633 -0.01715 -0.03957" quat="0.2914 0.529 0.6855 0.4065"/>
-                      <inertial pos="-0.001192 0 0.001457" quat="0 0.8209 0 0.5711" mass="0.3662" diaginertia="0.0007721 0.0006887 0.0002918"/>
+                      <inertial pos="-0.001013 0 0.001405" quat="0 0.8203 0 0.572" mass="0.4354" diaginertia="0.0008834 0.0007907 0.0003248"/>
                       <geom name="MergedSkull" class="bone" pos="-0.3477 0 -0.691" mesh="MergedSkull"/>
                     </body>
                   </body>
-                  <joint name="C_2_twist" class="cervical_twist" pos="-0.004829 0 -0.02353" axis="0.201 0 0.9796"/>
+                  <joint name="C_2_twist" class="cervical_twist" pos="-0.004829 0 -0.02353" axis="0.201 0 0.9796" range="-10.1 10.1"/>
                 </body>
-                <joint name="C_3_extend" class="cervical_extend" pos="-0.002825 0 -0.0163" axis="0 1 0"/>
-                <joint name="C_3_bend" class="cervical_bend" pos="-0.002825 0 -0.0163" axis="-0.9853 0 0.1708"/>
+                <joint name="C_3_extend" class="cervical_extend" pos="-0.002825 0 -0.0163" axis="0 1 0" range="-13.4 18.3"/>
+                <joint name="C_3_bend" class="cervical_bend" pos="-0.002825 0 -0.0163" axis="-0.9853 0 0.1708" range="-32 32"/>
               </body>
-              <joint name="C_4_twist" class="cervical_twist" pos="-0.005062 0 -0.01598" axis="0.3019 0 0.9533"/>
+              <joint name="C_4_twist" class="cervical_twist" pos="-0.005062 0 -0.01598" axis="0.3019 0 0.9533" range="-33 33"/>
             </body>
-            <joint name="C_5_extend" class="cervical_extend" pos="-0.007455 0 -0.01425" axis="0 1 0"/>
-            <joint name="C_5_bend" class="cervical_bend" pos="-0.007455 0 -0.01425" axis="-0.8861 0 0.4636"/>
+            <joint name="C_5_extend" class="cervical_extend" pos="-0.007455 0 -0.01425" axis="0 1 0" range="-11.9 11.2"/>
+            <joint name="C_5_bend" class="cervical_bend" pos="-0.007455 0 -0.01425" axis="-0.8861 0 0.4636" range="-27.9 27.9"/>
           </body>
-          <joint name="C_6_twist" class="cervical_twist" pos="-0.0139 0 -0.007136" axis="0.8896 0 0.4568"/>
+          <joint name="C_6_twist" class="cervical_twist" pos="-0.0139 0 -0.007136" axis="0.8896 0 0.4568" range="-42.4 42.4"/>
         </body>
-        <joint name="C_7_extend" class="cervical_extend" pos="-0.01571 0 -0.001623" axis="0 1 0"/>
-        <joint name="C_7_bend" class="cervical_bend" pos="-0.01571 0 -0.001623" axis="-0.1027 0 0.9947"/>
+        <joint name="C_7_extend" class="cervical_extend" pos="-0.01571 0 -0.001623" axis="0 1 0" range="-14.2 35.4"/>
+        <joint name="C_7_bend" class="cervical_bend" pos="-0.01571 0 -0.001623" axis="-0.1027 0 0.9947" range="-23.5 23.5"/>
       </body>
       <body name="scapula_L" pos="0.08 0.02 0.14">
-        <geom name="Scapula_L" class="bone" pos="-0.1204 -0.02 -0.5552" mesh="Scapula_L"/>
+        <geom name="Scapula_L" class="bone" pos="-0.1179 -0.02 -0.5586" mesh="Scapula_L"/>
         <joint name="scapula_L_supinate" class="scapula_supinate" pos="-0.03 -0.02 0" axis="0 0 1"/>
         <joint name="scapula_L_abduct" class="scapula_abduct" pos="0 -0.05 -0.07" axis="1 0 0"/>
         <joint name="scapula_L_extend" class="scapula_extend" pos="0 0 0" axis="0.3 1 0"/>
         <body name="upper_arm_L" pos="0.075 0.033 -0.13">
-          <geom name="humerus_L" class="bone" pos="-0.1954 -0.053 -0.4252" mesh="humerus_L"/>
+          <geom name="humerus_L" class="bone" pos="-0.1929 -0.053 -0.4286" mesh="humerus_L"/>
           <joint name="shoulder_L_supinate" class="shoulder_supinate" axis="-1 0 1"/>
           <joint name="shoulder_L_extend" class="shoulder_extend" axis="0 1 0"/>
           <body name="lower_arm_L" pos="-0.05 0.015 -0.145">
-            <geom name="Carpal_ulnar_L" class="bone" pos="-0.1454 -0.068 -0.2802" mesh="Carpal_ulnar_L"/>
-            <geom name="Radius_L" class="bone" pos="-0.1454 -0.068 -0.2802" mesh="Radius_L"/>
-            <geom name="Carpal_accessory_L" class="bone" pos="-0.1454 -0.068 -0.2802" mesh="Carpal_accessory_L"/>
-            <geom name="Ulna_L" class="bone" pos="-0.1454 -0.068 -0.2802" mesh="Ulna_L"/>
+            <geom name="Carpal_ulnar_L" class="bone" pos="-0.1429 -0.068 -0.2836" mesh="Carpal_ulnar_L"/>
+            <geom name="Radius_L" class="bone" pos="-0.1429 -0.068 -0.2836" mesh="Radius_L"/>
+            <geom name="Carpal_accessory_L" class="bone" pos="-0.1429 -0.068 -0.2836" mesh="Carpal_accessory_L"/>
+            <geom name="Ulna_L" class="bone" pos="-0.1429 -0.068 -0.2836" mesh="Ulna_L"/>
             <joint name="elbow_L" class="elbow" axis="0 1 0.2"/>
             <body name="hand_anchor_L" pos="0.003 -0.015 -0.19">
               <geom name="hand_anchor_L" class="foot_primitive" type="box" contype="0" conaffinity="0" size="0.005 0.005 0.005"/>
               <site name="hand_anchor_L" class="sensor"/>
               <body name="hand_L">
-                <geom name="Carpal_I_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Carpal_I_L"/>
-                <geom name="Os_metacarpale_I_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Os_metacarpale_I_L"/>
-                <geom name="Os_metacarpale_V_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Os_metacarpale_V_L"/>
-                <geom name="Carpal_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Carpal_L"/>
-                <geom name="Carpal_Sesamoid_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Carpal_Sesamoid_L"/>
-                <geom name="Carpal_III_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Carpal_III_L"/>
-                <geom name="Phalanx_distalis_digiti_I_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Phalanx_distalis_digiti_I_L"/>
-                <geom name="Os_metacarpale_V_L.001" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Os_metacarpale_V_L.001"/>
-                <geom name="Carpal_II_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Carpal_II_L"/>
-                <geom name="Carpal_IV_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Carpal_IV_L"/>
-                <geom name="Os_metacarpale_III_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Os_metacarpale_III_L"/>
-                <geom name="Os_metacarpale_IV_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Os_metacarpale_IV_L"/>
-                <geom name="Os_metacarpale_II_L" class="bone" pos="-0.1484 -0.053 -0.09023" mesh="Os_metacarpale_II_L"/>
+                <geom name="Carpal_I_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_I_L"/>
+                <geom name="Os_metacarpale_I_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_I_L"/>
+                <geom name="Os_metacarpale_V_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_V_L"/>
+                <geom name="Carpal_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_L"/>
+                <geom name="Carpal_Sesamoid_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_Sesamoid_L"/>
+                <geom name="Carpal_III_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_III_L"/>
+                <geom name="Phalanx_distalis_digiti_I_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Phalanx_distalis_digiti_I_L"/>
+                <geom name="Os_metacarpale_V_L.001" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_V_L.001"/>
+                <geom name="Carpal_II_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_II_L"/>
+                <geom name="Carpal_IV_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_IV_L"/>
+                <geom name="Os_metacarpale_III_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_III_L"/>
+                <geom name="Os_metacarpale_IV_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_IV_L"/>
+                <geom name="Os_metacarpale_II_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_II_L"/>
                 <joint name="wrist_L" class="wrist" axis="0 -1 0"/>
                 <geom name="hand_L_collision" class="collision_primitive" type="box" size="0.03 0.016 0.012" pos="0.01 0 -0.04" euler="0 65 0"/>
                 <body name="finger_L" pos="0.02 0 -0.06">
-                  <geom name="Phalanx_media_digiti_II_L" class="bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanx_media_digiti_II_L"/>
-                  <geom name="Phalanx_media_digiti_III_L" class="bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanx_media_digiti_III_L"/>
-                  <geom name="Phalanx_media_digiti_IV_L" class="bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanx_media_digiti_IV_L"/>
-                  <geom name="Phalanxpmxinutlis_digiti_V_L" class="bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanxpmxinutlis_digiti_V_L"/>
-                  <geom name="Phalanx_distalis_digiti_III_L" class="visible_bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanx_distalis_digiti_III_L"/>
-                  <geom name="Phalanx_distalis_digiti_V_L" class="visible_bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanx_distalis_digiti_V_L"/>
-                  <geom name="Phalanx_media_digiti_V_L" class="bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanx_media_digiti_V_L"/>
-                  <geom name="Phalanxpmxinutlis_digiti_IV_L_" class="bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanxpmxinutlis_digiti_IV_L_"/>
-                  <geom name="Phalanx_distalis_digiti_II_L" class="visible_bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanx_distalis_digiti_II_L"/>
-                  <geom name="Phalanx_distalis_digiti_IV_L" class="visible_bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanx_distalis_digiti_IV_L"/>
-                  <geom name="Phalanxpmxinutlis_digiti_III_L_" class="bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanxpmxinutlis_digiti_III_L_"/>
-                  <geom name="Phalanxpmxinutlis_digiti_II_L" class="bone" pos="-0.1684 -0.053 -0.03023" mesh="Phalanxpmxinutlis_digiti_II_L"/>
+                  <geom name="Phalanx_media_digiti_II_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_media_digiti_II_L"/>
+                  <geom name="Phalanx_media_digiti_III_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_media_digiti_III_L"/>
+                  <geom name="Phalanx_media_digiti_IV_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_media_digiti_IV_L"/>
+                  <geom name="Phalanxpmxinutlis_digiti_V_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_V_L"/>
+                  <geom name="Phalanx_distalis_digiti_III_L" class="visible_bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_distalis_digiti_III_L"/>
+                  <geom name="Phalanx_distalis_digiti_V_L" class="visible_bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_distalis_digiti_V_L"/>
+                  <geom name="Phalanx_media_digiti_V_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_media_digiti_V_L"/>
+                  <geom name="Phalanxpmxinutlis_digiti_IV_L_" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_IV_L_"/>
+                  <geom name="Phalanx_distalis_digiti_II_L" class="visible_bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_distalis_digiti_II_L"/>
+                  <geom name="Phalanx_distalis_digiti_IV_L" class="visible_bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_distalis_digiti_IV_L"/>
+                  <geom name="Phalanxpmxinutlis_digiti_III_L_" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_III_L_"/>
+                  <geom name="Phalanxpmxinutlis_digiti_II_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_II_L"/>
                   <joint name="finger_L" class="finger" axis="0 1 0.2"/>
                   <geom name="finger_L0_collision" class="foot_primitive" size="0.018 0.012" pos="0.012 0 -0.012" euler="90 0 0"/>
                   <geom name="finger_L1_collision" class="foot_primitive" size="0.01 0.015" pos="0.032 0 -0.02" euler="90 0 0"/>
@@ -763,60 +1040,60 @@
                 </body>
               </body>
             </body>
-            <geom name="Radius_L_collision" class="collision_primitive" size="0.017 0.09" pos="-0.001656 -0.006968 -0.1081" quat="0.9802 -0.05682 0.01088 0.1893"/>
-            <geom name="Ulna_L_collision" class="collision_primitive" size="0.015 0.06" pos="-0.01187 -0.0004415 -0.05165" quat="0.6993 -0.03224 -0.02206 0.7137"/>
+            <geom name="Radius_L_collision" class="collision_primitive" size="0.017 0.09" pos="0.0008281 -0.006968 -0.1114" quat="0.9802 -0.05682 0.01088 0.1893"/>
+            <geom name="Ulna_L_collision" class="collision_primitive" size="0.015 0.06" pos="-0.00939 -0.0004415 -0.05501" quat="0.6993 -0.03224 -0.02206 0.7137"/>
           </body>
-          <geom name="humerus_L_collision" class="collision_primitive" size="0.02 0.08" pos="-0.01803 0.00985 -0.07705" quat="0.5692 0.1782 0.08 0.7987"/>
+          <geom name="humerus_L_collision" class="collision_primitive" size="0.02 0.08" pos="-0.01554 0.00985 -0.08041" quat="0.5692 0.1782 0.08 0.7987"/>
         </body>
-        <geom name="Scapula_L_collision" class="collision_primitive" type="box" size="0.01758 0.03491 0.05749" pos="0.03882 0.03083 -0.06494" quat="0.7347 -0.1644 -0.2717 0.5995"/>
+        <geom name="Scapula_L_collision" class="collision_primitive" type="box" size="0.01758 0.03491 0.05749" pos="0.0413 0.03083 -0.0683" quat="0.7347 -0.1644 -0.2717 0.5995"/>
       </body>
       <body name="scapula_R" pos="0.08 -0.02 0.14">
-        <geom name="Scapula_R" class="bone" pos="-0.1204 0.02 -0.5552" mesh="Scapula_R"/>
+        <geom name="Scapula_R" class="bone" pos="-0.1179 0.02 -0.5586" mesh="Scapula_R"/>
         <joint name="scapula_R_supinate" class="scapula_supinate" pos="-0.03 0.02 0" axis="0 0 -1"/>
         <joint name="scapula_R_abduct" class="scapula_abduct" pos="0 0.05 -0.07" axis="-1 0 0"/>
         <joint name="scapula_R_extend" class="scapula_extend" pos="0 0 0" axis="-0.3 1 0"/>
         <body name="upper_arm_R" pos="0.075 -0.033 -0.13">
-          <geom name="humerus_R" class="bone" pos="-0.1954 0.053 -0.4252" mesh="humerus_R"/>
+          <geom name="humerus_R" class="bone" pos="-0.1929 0.053 -0.4286" mesh="humerus_R"/>
           <joint name="shoulder_R_supinate" class="shoulder_supinate" axis="1 0 -1"/>
           <joint name="shoulder_R_extend" class="shoulder_extend" axis="0 1 0"/>
           <body name="lower_arm_R" pos="-0.05 -0.015 -0.145">
-            <geom name="Ulna_R" class="bone" pos="-0.1454 0.068 -0.2802" mesh="Ulna_R"/>
-            <geom name="Carpal_accessory_R" class="bone" pos="-0.1454 0.068 -0.2802" mesh="Carpal_accessory_R"/>
-            <geom name="Carpal_ulnar_R" class="bone" pos="-0.1454 0.068 -0.2802" mesh="Carpal_ulnar_R"/>
-            <geom name="Radius_R" class="bone" pos="-0.1454 0.068 -0.2802" mesh="Radius_R"/>
+            <geom name="Ulna_R" class="bone" pos="-0.1429 0.068 -0.2836" mesh="Ulna_R"/>
+            <geom name="Carpal_accessory_R" class="bone" pos="-0.1429 0.068 -0.2836" mesh="Carpal_accessory_R"/>
+            <geom name="Carpal_ulnar_R" class="bone" pos="-0.1429 0.068 -0.2836" mesh="Carpal_ulnar_R"/>
+            <geom name="Radius_R" class="bone" pos="-0.1429 0.068 -0.2836" mesh="Radius_R"/>
             <joint name="elbow_R" class="elbow" axis="0 1 -0.2"/>
             <body name="hand_anchor_R" pos="0.003 0.015 -0.19">
               <geom name="hand_anchor_R" class="foot_primitive" type="box" contype="0" conaffinity="0" size="0.005 0.005 0.005"/>
               <site name="hand_anchor_R" class="sensor"/>
               <body name="hand_R">
-                <geom name="Os_metacarpale_III_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Os_metacarpale_III_R"/>
-                <geom name="Os_metacarpale_IV_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Os_metacarpale_IV_R"/>
-                <geom name="Os_metacarpale_II_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Os_metacarpale_II_R"/>
-                <geom name="Os_metacarpale_V_R.001" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Os_metacarpale_V_R.001"/>
-                <geom name="Carpal_II_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Carpal_II_R"/>
-                <geom name="Carpal_IV_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Carpal_IV_R"/>
-                <geom name="Carpal_III_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Carpal_III_R"/>
-                <geom name="Phalanx_distalis_digiti_I_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Phalanx_distalis_digiti_I_R"/>
-                <geom name="Carpal_I_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Carpal_I_R"/>
-                <geom name="Os_metacarpale_I_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Os_metacarpale_I_R"/>
-                <geom name="Os_metacarpale_V_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Os_metacarpale_V_R"/>
-                <geom name="Carpal_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Carpal_R"/>
-                <geom name="Carpal_Sesamoid_R" class="bone" pos="-0.1484 0.053 -0.09023" mesh="Carpal_Sesamoid_R"/>
+                <geom name="Os_metacarpale_III_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_III_R"/>
+                <geom name="Os_metacarpale_IV_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_IV_R"/>
+                <geom name="Os_metacarpale_II_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_II_R"/>
+                <geom name="Os_metacarpale_V_R.001" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_V_R.001"/>
+                <geom name="Carpal_II_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_II_R"/>
+                <geom name="Carpal_IV_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_IV_R"/>
+                <geom name="Carpal_III_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_III_R"/>
+                <geom name="Phalanx_distalis_digiti_I_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Phalanx_distalis_digiti_I_R"/>
+                <geom name="Carpal_I_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_I_R"/>
+                <geom name="Os_metacarpale_I_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_I_R"/>
+                <geom name="Os_metacarpale_V_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_V_R"/>
+                <geom name="Carpal_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_R"/>
+                <geom name="Carpal_Sesamoid_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_Sesamoid_R"/>
                 <joint name="wrist_R" class="wrist" axis="0 -1 0"/>
                 <geom name="hand_R_collision" class="collision_primitive" type="box" size="0.03 0.016 0.012" pos="0.01 0 -0.04" euler="0 65 0"/>
                 <body name="finger_R" pos="0.02 0 -0.06">
-                  <geom name="Phalanxpmxinutlis_digiti_IV_R" class="bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanxpmxinutlis_digiti_IV_R"/>
-                  <geom name="Phalanx_distalis_digiti_II_R" class="visible_bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanx_distalis_digiti_II_R"/>
-                  <geom name="Phalanx_distalis_digiti_IV_R" class="visible_bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanx_distalis_digiti_IV_R"/>
-                  <geom name="Phalanxpmxinutlis_digiti_II_R" class="bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanxpmxinutlis_digiti_II_R"/>
-                  <geom name="Phalanx_media_digiti_V_R" class="bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanx_media_digiti_V_R"/>
-                  <geom name="Phalanxpmxinutlis_digiti_V_R" class="bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanxpmxinutlis_digiti_V_R"/>
-                  <geom name="Phalanx_distalis_digiti_III_R" class="visible_bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanx_distalis_digiti_III_R"/>
-                  <geom name="Phalanx_distalis_digiti_V_R" class="visible_bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanx_distalis_digiti_V_R"/>
-                  <geom name="Phalanxpmxinutlis_digiti_III_R" class="bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanxpmxinutlis_digiti_III_R"/>
-                  <geom name="Phalanx_media_digiti_II_R" class="bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanx_media_digiti_II_R"/>
-                  <geom name="Phalanx_media_digiti_III_R" class="bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanx_media_digiti_III_R"/>
-                  <geom name="Phalanx_media_digiti_IV_R" class="bone" pos="-0.1684 0.053 -0.03023" mesh="Phalanx_media_digiti_IV_R"/>
+                  <geom name="Phalanxpmxinutlis_digiti_IV_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_IV_R"/>
+                  <geom name="Phalanx_distalis_digiti_II_R" class="visible_bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_distalis_digiti_II_R"/>
+                  <geom name="Phalanx_distalis_digiti_IV_R" class="visible_bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_distalis_digiti_IV_R"/>
+                  <geom name="Phalanxpmxinutlis_digiti_II_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_II_R"/>
+                  <geom name="Phalanx_media_digiti_V_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_media_digiti_V_R"/>
+                  <geom name="Phalanxpmxinutlis_digiti_V_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_V_R"/>
+                  <geom name="Phalanx_distalis_digiti_III_R" class="visible_bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_distalis_digiti_III_R"/>
+                  <geom name="Phalanx_distalis_digiti_V_R" class="visible_bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_distalis_digiti_V_R"/>
+                  <geom name="Phalanxpmxinutlis_digiti_III_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_III_R"/>
+                  <geom name="Phalanx_media_digiti_II_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_media_digiti_II_R"/>
+                  <geom name="Phalanx_media_digiti_III_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_media_digiti_III_R"/>
+                  <geom name="Phalanx_media_digiti_IV_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_media_digiti_IV_R"/>
                   <joint name="finger_R" class="finger" axis="0 1 -0.2"/>
                   <geom name="finger_R0_collision" class="foot_primitive" size="0.018 0.012" pos="0.012 0 -0.012" euler="90 0 0"/>
                   <geom name="finger_R1_collision" class="foot_primitive" size="0.01 0.015" pos="0.032 0 -0.02" euler="90 0 0"/>
@@ -825,14 +1102,14 @@
                 </body>
               </body>
             </body>
-            <geom name="Ulna_R_collision" class="collision_primitive" size="0.015 0.06" pos="-0.01187 0.0004416 -0.05165" quat="0.7137 -0.02206 -0.03224 0.6993"/>
-            <geom name="Radius_R_collision" class="collision_primitive" size="0.017 0.09" pos="-0.001656 0.006968 -0.1081" quat="0.9802 0.05682 0.01088 -0.1893"/>
+            <geom name="Ulna_R_collision" class="collision_primitive" size="0.015 0.06" pos="-0.00939 0.0004416 -0.05501" quat="0.7137 -0.02206 -0.03224 0.6993"/>
+            <geom name="Radius_R_collision" class="collision_primitive" size="0.017 0.09" pos="0.0008281 0.006968 -0.1114" quat="0.9802 0.05682 0.01088 -0.1893"/>
           </body>
-          <geom name="humerus_R_collision" class="collision_primitive" size="0.02 0.08" pos="-0.01803 -0.00985 -0.07705" quat="0.7987 0.08 0.1782 0.5692"/>
+          <geom name="humerus_R_collision" class="collision_primitive" size="0.02 0.08" pos="-0.01554 -0.00985 -0.08041" quat="0.7987 0.08 0.1782 0.5692"/>
         </body>
-        <geom name="Scapula_R_collision" class="collision_primitive" type="box" size="0.01758 0.03491 0.05749" pos="0.03882 -0.03083 -0.06494" quat="0.5995 -0.2717 -0.1644 0.7347"/>
+        <geom name="Scapula_R_collision" class="collision_primitive" type="box" size="0.01758 0.03491 0.05749" pos="0.0413 -0.03083 -0.0683" quat="0.5995 -0.2717 -0.1644 0.7347"/>
       </body>
-      <inertial pos="0 0 0" quat="0.4552 0.5411 0.5411 0.4552" mass="2.676" diaginertia="0.02603 0.02333 0.01159"/>
+      <inertial pos="0 0 0" quat="0.4549 0.5414 0.5414 0.4549" mass="2.144" diaginertia="0.02167 0.01957 0.009093"/>
       <geom name="Ribcage" class="bone" pos="-0.05279 -0.0003659 -0.4218" mesh="Ribcage"/>
     </body>
   </worldbody>
@@ -872,63 +1149,63 @@
 
   <tendon>
     <fixed name="lumbar_extend" class="lumbar_extend">
-      <joint joint="L_1_extend" coef="1.089"/>
+      <joint joint="L_1_extend" coef="1.09"/>
       <joint joint="L_3_extend" coef="1.029"/>
-      <joint joint="L_5_extend" coef="0.9677"/>
-      <joint joint="L_7_extend" coef="0.9142"/>
+      <joint joint="L_5_extend" coef="0.9675"/>
+      <joint joint="L_7_extend" coef="0.9139"/>
     </fixed>
     <fixed name="lumbar_bend" class="lumbar_bend">
       <joint joint="L_1_bend" coef="1.136"/>
       <joint joint="L_3_bend" coef="1.049"/>
       <joint joint="L_5_bend" coef="0.9554"/>
-      <joint joint="L_7_bend" coef="0.8588"/>
+      <joint joint="L_7_bend" coef="0.8594"/>
     </fixed>
     <fixed name="lumbar_twist" class="lumbar_twist">
       <joint joint="L_2_twist" coef="1.001"/>
       <joint joint="L_4_twist" coef="0.9997"/>
-      <joint joint="L_6_twist" coef="0.9996"/>
+      <joint joint="L_6_twist" coef="0.9994"/>
     </fixed>
     <fixed name="cervical_extend" class="cervical_extend">
-      <joint joint="C_7_extend" coef="1.165"/>
-      <joint joint="C_5_extend" coef="1.064"/>
-      <joint joint="C_3_extend" coef="0.928"/>
-      <joint joint="C_1_extend" coef="0.8431"/>
+      <joint joint="C_7_extend" coef="1.166"/>
+      <joint joint="C_5_extend" coef="1.066"/>
+      <joint joint="C_3_extend" coef="0.9291"/>
+      <joint joint="C_1_extend" coef="0.8394"/>
     </fixed>
     <fixed name="cervical_bend" class="cervical_bend">
-      <joint joint="C_7_bend" coef="1.106"/>
-      <joint joint="C_5_bend" coef="1.116"/>
-      <joint joint="C_3_bend" coef="0.9243"/>
+      <joint joint="C_7_bend" coef="1.1"/>
+      <joint joint="C_5_bend" coef="1.118"/>
+      <joint joint="C_3_bend" coef="0.927"/>
       <joint joint="C_1_bend" coef="0.8546"/>
     </fixed>
     <fixed name="cervical_twist" class="cervical_twist">
-      <joint joint="C_6_twist" coef="1.046"/>
-      <joint joint="C_4_twist" coef="0.969"/>
-      <joint joint="C_2_twist" coef="0.9847"/>
+      <joint joint="C_6_twist" coef="1.051"/>
+      <joint joint="C_4_twist" coef="0.9659"/>
+      <joint joint="C_2_twist" coef="0.9827"/>
     </fixed>
     <fixed name="caudal_extend" class="caudal_extend">
-      <joint joint="Ca_1_extend" coef="1.42"/>
-      <joint joint="Ca_3_extend" coef="1.356"/>
-      <joint joint="Ca_5_extend" coef="1.292"/>
-      <joint joint="Ca_7_extend" coef="1.198"/>
-      <joint joint="Ca_9_extend" coef="1.089"/>
-      <joint joint="Ca_11_extend" coef="0.9549"/>
-      <joint joint="Ca_13_extend" coef="0.8383"/>
-      <joint joint="Ca_15_extend" coef="0.7561"/>
-      <joint joint="Ca_17_extend" coef="0.7132"/>
-      <joint joint="Ca_19_extend" coef="0.6934"/>
-      <joint joint="Ca_21_extend" coef="0.6894"/>
+      <joint joint="Ca_1_extend" coef="1.415"/>
+      <joint joint="Ca_3_extend" coef="1.35"/>
+      <joint joint="Ca_5_extend" coef="1.287"/>
+      <joint joint="Ca_7_extend" coef="1.193"/>
+      <joint joint="Ca_9_extend" coef="1.086"/>
+      <joint joint="Ca_11_extend" coef="0.9541"/>
+      <joint joint="Ca_13_extend" coef="0.8398"/>
+      <joint joint="Ca_15_extend" coef="0.7599"/>
+      <joint joint="Ca_17_extend" coef="0.7187"/>
+      <joint joint="Ca_19_extend" coef="0.6998"/>
+      <joint joint="Ca_21_extend" coef="0.696"/>
     </fixed>
     <fixed name="caudal_bend" class="caudal_bend">
-      <joint joint="Ca_2_bend" coef="1.326"/>
-      <joint joint="Ca_4_bend" coef="1.315"/>
-      <joint joint="Ca_6_bend" coef="1.27"/>
-      <joint joint="Ca_8_bend" coef="1.172"/>
-      <joint joint="Ca_10_bend" coef="1.041"/>
-      <joint joint="Ca_12_bend" coef="0.905"/>
-      <joint joint="Ca_14_bend" coef="0.8028"/>
-      <joint joint="Ca_16_bend" coef="0.7458"/>
-      <joint joint="Ca_18_bend" coef="0.7167"/>
-      <joint joint="Ca_20_bend" coef="0.7062"/>
+      <joint joint="Ca_2_bend" coef="1.321"/>
+      <joint joint="Ca_4_bend" coef="1.31"/>
+      <joint joint="Ca_6_bend" coef="1.265"/>
+      <joint joint="Ca_8_bend" coef="1.168"/>
+      <joint joint="Ca_10_bend" coef="1.039"/>
+      <joint joint="Ca_12_bend" coef="0.9054"/>
+      <joint joint="Ca_14_bend" coef="0.8057"/>
+      <joint joint="Ca_16_bend" coef="0.7507"/>
+      <joint joint="Ca_18_bend" coef="0.7228"/>
+      <joint joint="Ca_20_bend" coef="0.7128"/>
     </fixed>
   </tendon>
 
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/dog_base.xml b/dm_control/locomotion/walkers/assets/dog_v2/dog_base.xml
index 6a6210fd..2430337b 100644
--- a/dm_control/locomotion/walkers/assets/dog_v2/dog_base.xml
+++ b/dm_control/locomotion/walkers/assets/dog_v2/dog_base.xml
@@ -1,14 +1,15 @@
 <mujoco model="dog">
   <compiler meshdir="dog_assets/" texturedir="dog_assets/"/>
 
-  <option timestep="0.005" noslip_iterations="4"/>
+  <option timestep="0.005" integrator="Euler" cone="elliptic" noslip_iterations="3"/>
 
-  <size njmax="900" nconmax="300" nkey="1"/>
+  <size memory="100M"/>
 
   <visual>
     <global offwidth="1920" offheight="1080"/>
-    <map znear="0.001"/>
-    <scale jointlength="8.0" jointwidth="0.5" framelength="2.0" framewidth="0.3"/>
+    <headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1"/>
+    <map znear="0.01"/>
+    <scale jointlength="8" jointwidth="0.01" framelength="0.3" framewidth="0.01"/>
   </visual>
 
   <statistic meansize="0.01" extent="1.0"/>
@@ -16,10 +17,10 @@
   <default>
     <joint limited="true" solreflimit="0.01 1" solimplimit="0.9 0.99 0.01" stiffness="0.1" armature="0.0001" damping="0.01"/>
     <geom friction="0.9" solref="0.01 1" solimp="0.95 0.99 0.001"/>
-    <tendon rgba="0.5 0 0 1"/>
+    <tendon rgba="0.5 0 0 1" width="0.005"/>
     <general ctrllimited="true" ctrlrange="-1 1" dyntype="filter" dynprm="0.05" gainprm="0.02"/>
     <default class="bone">
-      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.5 0.5 0.5 1" density="1100.0"/>
+      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.69 0.65 0.58 1" density="1100.0"/>
       <default class="light_bone">
         <geom density="300.0"/>
       </default>
@@ -49,20 +50,20 @@
       <joint group="3" pos="0.012 0 0.01" armature="0.01" damping="3.0"/>
       <general gainprm="40"/>
       <default class="lumbar_extend">
-        <joint stiffness="30.0" range="-24.5 24.5"/>
+        <joint stiffness="30.0" range="-13 13"/>
         <general gainprm="60"/>
       </default>
       <default class="lumbar_bend">
-        <joint stiffness="45.0" range="-21 21"/>
+        <joint stiffness="45.0" range="-15 15"/>
       </default>
       <default class="lumbar_twist">
-        <joint stiffness="45.0" range="-16.333 16.333"/>
+        <joint stiffness="45.0" range="-10 10"/>
       </default>
     </default>
     <default class="cervical">
-      <joint group="3" pos="-0.7 0 0" stiffness="4.0" armature="0.01" damping="3.0"/>
+      <joint group="3" pos="-0.7 0 0" stiffness="5.0" armature="0.01" damping="5.0"/>
       <default class="cervical_extend">
-        <joint range="-17.5 61.25"/>
+        <joint range="-17.5 30"/>
         <general gainprm="20"/>
       </default>
       <default class="cervical_bend">
@@ -99,15 +100,15 @@
         <joint range="-20 20"/>
       </default>
       <default class="hip_abduct">
-        <joint range="-30 90"/>
+        <joint range="-50 10"/>
       </default>
       <default class="hip_extend">
-        <joint range="-130 60"/>
+        <joint range="-115 60"/>
         <general gainprm="40"/>
       </default>
     </default>
     <default class="knee">
-      <joint range="-120 10" damping="0.5"/>
+      <joint range="-95 25" damping="0.5"/>
       <general gainprm="30"/>
     </default>
     <default class="ankle">
@@ -157,14 +158,24 @@
     <default class="sensor">
       <site group="4"/>
     </default>
+    <default class="wrapping">
+      <geom type='cylinder' mass="0" contype="0" conaffinity="0" group="2" rgba="0 0 1 1" euler="90 0 0"/>
+      <site group="2" rgba="0 0 1 1" />
+    </default>
+    <default class="marker">
+      <site group="3" rgba="1 0.5 0 0.5" size="0.01 0.01 0.01"/>
+    </default>
+    <default class="mocap_marker">
+      <site group="3" rgba="0 1 0 0.5" size="0.01 0.01 0.01"/>
+    </default>
   </default>
 
   <asset>
-    <texture name="grid" type="2d" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" mark="edge" markrgb="0.2 0.3 0.4" width="300" height="300"/>
+    <texture name="grid" type="2d" builtin="checker" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" mark="edge" markrgb="0.2 0.3 0.4" width="50" height="50"/>
+    <texture type="skybox" name="skybox" builtin="gradient" rgb1="0.4 0.6 0.8" rgb2="0 0 0" width="50" height="50"/>
     <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance="0.2"/>
   </asset>
 
   <worldbody>
-    <geom name="floor" conaffinity="1" type="plane" size="10 10 0.1" material="grid"/>
   </worldbody>
 </mujoco>
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/dog_muscles_-1_Sigmoid.xml b/dm_control/locomotion/walkers/assets/dog_v2/dog_muscles_-1_Sigmoid.xml
new file mode 100644
index 00000000..d8632b7c
--- /dev/null
+++ b/dm_control/locomotion/walkers/assets/dog_v2/dog_muscles_-1_Sigmoid.xml
@@ -0,0 +1,2935 @@
+<mujoco model="dog">
+  <compiler meshdir="../../../../suite/dog_assets" texturedir="../../../../suite/dog_assets"/>
+
+  <compiler>
+    <lengthrange accel="50" timeconst="1" timestep="0.001" inttotal="5" interval="2" tolrange="0.05"/>
+  </compiler>
+
+  <option timestep="0.005" integrator="implicitfast" cone="elliptic" noslip_iterations="3"/>
+
+  <size memory="100M"/>
+
+  <visual>
+    <global offwidth="1920" offheight="1080"/>
+    <headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1"/>
+    <map znear="0.01"/>
+    <scale jointlength="8" jointwidth="0.01" framelength="0.3" framewidth="0.01"/>
+  </visual>
+
+  <statistic meansize="0.01" extent="1"/>
+
+  <default>
+    <joint limited="true" solreflimit="0.01 1" solimplimit="0.9 0.99 0.01" stiffness="0.1" armature="0.0001" damping="0.01"/>
+    <geom friction="0.9" solref="0.01 1" solimp="0.95 0.99 0.001"/>
+    <tendon width="0.005" rgba="0.5 0 0 1"/>
+    <general ctrllimited="true" ctrlrange="-1 1" dyntype="filter" dynprm="0.05" gainprm="0.02"/>
+    <default class="bone">
+      <geom type="mesh" contype="0" conaffinity="0" group="5" rgba="0.69 0.65 0.58 1" density="1100"/>
+      <default class="light_bone">
+        <geom density="300"/>
+      </default>
+      <default class="visible_bone">
+        <geom contype="0" conaffinity="0" group="1"/>
+      </default>
+    </default>
+    <default class="collision_primitive">
+      <geom type="capsule" contype="1" conaffinity="1" condim="1" group="3" rgba="0 0.5 0.5 1" density="300"/>
+      <default class="foot_primitive">
+        <geom rgba="0 0.6 0.4 1" solimp="0.9 0.95 0.001"/>
+      </default>
+      <default class="tooth_primitive">
+        <geom condim="6" priority="2" friction="0.5 0.01 0.01"/>
+      </default>
+      <default class="nonself_collision_primitive">
+        <geom conaffinity="0"/>
+      </default>
+    </default>
+    <default class="connector">
+      <site group="5" rgba="0 0.5 0 1" size="0.005"/>
+    </default>
+    <default class="muscle">
+      <geom contype="0" conaffinity="0" group="4" rgba="0.5 0 0 1"/>
+      <tendon rgba="0.5 0 0 1"/>
+    </default>
+    <default class="lumbar">
+      <joint group="3" pos="0.012 0 0.01" armature="0.01" damping="3"/>
+      <general gainprm="40"/>
+      <default class="lumbar_extend">
+        <joint stiffness="30" range="-22.75 22.75"/>
+        <general gainprm="60"/>
+      </default>
+      <default class="lumbar_bend">
+        <joint stiffness="45" range="-26.25 26.25"/>
+      </default>
+      <default class="lumbar_twist">
+        <joint stiffness="45" range="-23.33 23.33"/>
+      </default>
+    </default>
+    <default class="cervical">
+      <joint group="3" pos="-0.7 0 0" stiffness="5" armature="0.01" damping="5"/>
+      <default class="cervical_extend">
+        <joint range="-30.62 52.5"/>
+        <general gainprm="20"/>
+      </default>
+      <default class="cervical_bend">
+        <joint range="-61.25 61.25"/>
+        <general gainprm="20"/>
+      </default>
+      <default class="cervical_twist">
+        <joint range="-54.44 54.44"/>
+        <general gainprm="14"/>
+      </default>
+    </default>
+    <default class="atlas">
+      <joint axis="0 -1 0" stiffness="2" range="-15 30" damping="0.2"/>
+      <general gainprm="10"/>
+    </default>
+    <default class="caudal">
+      <joint group="3" springdamper="0.001 50"/>
+      <general gainprm="0.5"/>
+      <default class="caudal_extend">
+        <joint range="-15 15"/>
+      </default>
+      <default class="caudal_bend">
+        <joint range="-15 15"/>
+      </default>
+    </default>
+    <default class="mandible">
+      <joint stiffness="2" range="-15 20" springref="-11" damping="0.2"/>
+      <general gainprm="3"/>
+    </default>
+    <default class="hip">
+      <joint stiffness="5" armature="0.01" damping="0.5"/>
+      <general gainprm="10"/>
+      <default class="hip_supinate">
+        <joint range="-20 20"/>
+      </default>
+      <default class="hip_abduct">
+        <joint range="-50 10"/>
+      </default>
+      <default class="hip_extend">
+        <joint range="-115 60"/>
+        <general gainprm="40"/>
+      </default>
+    </default>
+    <default class="knee">
+      <joint range="-95 25" damping="0.5"/>
+      <general gainprm="30"/>
+    </default>
+    <default class="ankle">
+      <joint range="-100 20" damping="0.3"/>
+      <general gainprm="20"/>
+    </default>
+    <default class="toe">
+      <joint stiffness="2" range="-15 70" damping="0.02"/>
+      <general gainprm="2"/>
+    </default>
+    <default class="scapula">
+      <joint stiffness="10" damping="1.5"/>
+      <general gainprm="30"/>
+      <default class="scapula_supinate">
+        <joint pos="-0.03 0.02 0" range="-15 35"/>
+      </default>
+      <default class="scapula_abduct">
+        <joint pos="0 0.05 -0.07" range="-15 20"/>
+      </default>
+      <default class="scapula_extend">
+        <joint pos="0 0 0" range="-30 30"/>
+        <general gainprm="30"/>
+      </default>
+    </default>
+    <default class="shoulder">
+      <joint stiffness="5" damping="1"/>
+      <general gainprm="30"/>
+      <default class="shoulder_extend">
+        <joint range="-40 60"/>
+      </default>
+      <default class="shoulder_supinate">
+        <joint range="-30 15"/>
+      </default>
+    </default>
+    <default class="elbow">
+      <joint range="-100 30" damping="0.3"/>
+      <general gainprm="20"/>
+    </default>
+    <default class="wrist">
+      <joint range="-110 10" damping="0.2"/>
+      <general gainprm="10"/>
+    </default>
+    <default class="finger">
+      <joint stiffness="1" range="-15 100" damping="0.02"/>
+      <general gainprm="2"/>
+    </default>
+    <default class="sensor">
+      <site group="4"/>
+    </default>
+    <default class="wrapping">
+      <geom type="cylinder" contype="0" conaffinity="0" group="2" rgba="0 0 1 1" mass="0" euler="90 0 0"/>
+      <site group="2" rgba="0 0 1 1"/>
+    </default>
+    <default class="marker">
+      <site group="3" rgba="1 0.5 0 0.5" size="0.01 0.01 0.01"/>
+    </default>
+    <default class="mocap_marker">
+      <site group="3" rgba="0 1 0 0.5" size="0.01 0.01 0.01"/>
+    </default>
+  </default>
+
+  <asset>
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+    <skin name="m_flexor_capri_radialis_R" file="skins/m_flexor_capri_radialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_Nose" file="skins/m_Nose.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_thoracis_R" file="skins/m_longissimus_thoracis_R.skn" material="muscle" group="1"/>
+    <skin name="m_deltoideus_scapularis_L" file="skins/m_deltoideus_scapularis_L.skn" material="muscle" group="1"/>
+    <skin name="m_orbicularis_oris_R" file="skins/m_orbicularis_oris_R.skn" material="muscle" group="1"/>
+    <skin name="m_supinator_L" file="skins/m_supinator_L.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_lat_R" file="skins/m_vastus_lat_R.skn" material="muscle" group="1"/>
+    <skin name="m_levator_labii_sup_R" file="skins/m_levator_labii_sup_R.skn" material="muscle" group="1"/>
+    <skin name="m_buccinator_L(2)" file="skins/m_buccinator_L(2).skn" material="muscle" group="1"/>
+    <skin name="m_retractor_anguli_oculi_L" file="skins/m_retractor_anguli_oculi_L.skn" material="muscle" group="1"/>
+    <skin name="m_gemellus_L" file="skins/m_gemellus_L.skn" material="muscle" group="1"/>
+    <skin name="m_dorsi_scaleni_dors_L" file="skins/m_dorsi_scaleni_dors_L.skn" material="muscle" group="1"/>
+    <skin name="m_diaphragma" file="skins/m_diaphragma.skn" material="muscle" group="1"/>
+    <skin name="m_tibialis_caudalis_L" file="skins/m_tibialis_caudalis_L.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_medial_R" file="skins/m_triceps_brachii_medial_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_capitis_caudalis_L" file="skins/m_obliquus_capitis_caudalis_L.skn" material="muscle" group="1"/>
+    <skin name="m_sternothyroideus_L" file="skins/m_sternothyroideus_L.skn" material="muscle" group="1"/>
+    <skin name="m_tibialis_cranialis_R" file="skins/m_tibialis_cranialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_abductor_pollicis_longus_L" file="skins/m_abductor_pollicis_longus_L.skn" material="muscle" group="1"/>
+    <skin name="m_longissimus_cervicis_L" file="skins/m_longissimus_cervicis_L.skn" material="muscle" group="1"/>
+    <skin name="m_pronator_quadratus_R" file="skins/m_pronator_quadratus_R.skn" material="muscle" group="1"/>
+    <skin name="m_gluteus_superficialis_major_L" file="skins/m_gluteus_superficialis_major_L.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_intermedius_R" file="skins/m_vastus_intermedius_R.skn" material="muscle" group="1"/>
+    <skin name="m_flexor_digitorum_superficialis_R" file="skins/m_flexor_digitorum_superficialis_R.skn" material="muscle" group="1"/>
+    <skin name="m_buccinator_R" file="skins/m_buccinator_R.skn" material="muscle" group="1"/>
+    <skin name="m_Skutulum_R" file="skins/m_Skutulum_R.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_lateralis_R" file="skins/m_rectus_capitis_lateralis_R.skn" material="muscle" group="1"/>
+    <skin name="m_brachialis_L" file="skins/m_brachialis_L.skn" material="muscle" group="1"/>
+    <skin name="m_rhomboideus_L" file="skins/m_rhomboideus_L.skn" material="muscle" group="1"/>
+    <skin name="m_caninus_L" file="skins/m_caninus_L.skn" material="muscle" group="1"/>
+    <skin name="m_peroneus_longus_R" file="skins/m_peroneus_longus_R.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_lateralis_L" file="skins/m_extensor_digitorum_lateralis_L.skn" material="muscle" group="1"/>
+    <skin name="m_rectus_capitis_dorsalis_major_L" file="skins/m_rectus_capitis_dorsalis_major_L.skn" material="muscle" group="1"/>
+    <skin name="m_triceps_brachii_long_R" file="skins/m_triceps_brachii_long_R.skn" material="muscle" group="1"/>
+    <skin name="m_pronator_teres_R" file="skins/m_pronator_teres_R.skn" material="muscle" group="1"/>
+    <skin name="m_obliquus_int_abdominis_L" file="skins/m_obliquus_int_abdominis_L.skn" material="muscle" group="1"/>
+    <skin name="m_gastrocnemius_L" file="skins/m_gastrocnemius_L.skn" material="muscle" group="1"/>
+    <skin name="m_quadratus_femoris_L" file="skins/m_quadratus_femoris_L.skn" material="muscle" group="1"/>
+    <skin name="m_extensor_digitorum_lat_R" file="skins/m_extensor_digitorum_lat_R.skn" material="muscle" group="1"/>
+    <skin name="m_sartorius_L" file="skins/m_sartorius_L.skn" material="muscle" group="1"/>
+    <skin name="m_vastus_lat_ander_fascia_lata_R" file="skins/m_vastus_lat_ander_fascia_lata_R.skn" material="muscle" group="1"/>
+  </asset>
+
+  <worldbody>
+    <body name="floor" pos="0 0 0">
+      <geom name="floor" type="plane" conaffinity="1" size="10 10 0.1" material="grid"/>
+    </body>
+    <body name="torso" pos="0.03792 0 0.4186">
+      <freejoint name="root"/>
+      <light name="light" mode="trackcom" pos="0 0 3"/>
+      <camera name="y-axis" mode="trackcom" pos="0 -1.5 0.8" xyaxes="1 0 0 0 0.6 1"/>
+      <camera name="x-axis" mode="trackcom" pos="2 0 0.5" xyaxes="0 1 0 -0.3 0 1"/>
+      <geom name="collision_torso" class="nonself_collision_primitive" type="ellipsoid" size="0.2 0.09 0.11" density="200" pos="0 0 0" euler="0 10 0"/>
+      <body name="L_1" pos="-0.121 0 0.0895">
+        <geom name="L_1" class="bone" pos="0.08309 0 -0.5081" mesh="L_1"/>
+        <geom name="L_1_collision" class="nonself_collision_primitive" type="sphere" size="0.05" pos="0 0 -0.02"/>
+        <body name="L_2" pos="-0.02302 0 0.0009603">
+          <geom name="L_2" class="bone" pos="0.1061 0 -0.5091" mesh="L_2"/>
+          <geom name="L_2_collision" class="nonself_collision_primitive" type="sphere" size="0.05" pos="0 0 -0.02"/>
+          <body name="L_3" pos="-0.0233 0 0.0003924">
+            <geom name="L_3" class="bone" pos="0.1294 0 -0.5094" mesh="L_3"/>
+            <geom name="L_3_collision" class="nonself_collision_primitive" type="sphere" size="0.05" pos="0 0 -0.02"/>
+            <body name="L_4" pos="-0.02425 0 -0.0004178">
+              <geom name="L_4" class="bone" pos="0.1537 0 -0.509" mesh="L_4"/>
+              <geom name="L_4_collision" class="nonself_collision_primitive" type="sphere" size="0.05" pos="0 0 -0.02"/>
+              <body name="L_5" pos="-0.02446 0 -0.0001499">
+                <geom name="L_5" class="bone" pos="0.1781 0 -0.5089" mesh="L_5"/>
+                <geom name="L_5_collision" class="nonself_collision_primitive" type="sphere" size="0.05" pos="0 0 -0.02"/>
+                <body name="L_6" pos="-0.02344 0 0.000669">
+                  <geom name="L_6" class="bone" pos="0.2016 0 -0.5095" mesh="L_6"/>
+                  <geom name="L_6_collision" class="nonself_collision_primitive" type="sphere" size="0.05" pos="0 0 -0.02"/>
+                  <body name="L_7" pos="-0.0264 0 0.001422">
+                    <geom name="L_7" class="bone" pos="0.228 0 -0.511" mesh="L_7"/>
+                    <geom name="L_7_collision" class="nonself_collision_primitive" type="sphere" size="0.05" pos="0 0 -0.02"/>
+                    <joint name="L_7_extend" class="lumbar_extend" axis="0 1 0"/>
+                    <joint name="L_7_bend" class="lumbar_bend" axis="0 0 1"/>
+                    <body name="pelvis" pos="-0.08022 0 -0.0348">
+                      <geom name="Sacrum" class="bone" pos="0.3082 0 -0.4762" mesh="Sacrum"/>
+                      <geom name="Pelvis" class="bone" pos="0.3082 0 -0.4762" mesh="Pelvis"/>
+                      <geom name="collision_pelvis_L" class="nonself_collision_primitive" size="0.05 0.05 0" pos="0.01 0.02 -0.01" euler="0 70 0"/>
+                      <geom name="collision_pelvis_R" class="nonself_collision_primitive" size="0.05 0.05 0" pos="0.01 -0.02 -0.01" euler="0 70 0"/>
+                      <body name="upper_leg_L" pos="-0.01811 0.04724 -0.0126">
+                        <geom name="Femoris_L" class="bone" pos="0.3263 -0.04724 -0.4636" mesh="Femoris_L"/>
+                        <geom name="Femoris_fabellae_L_2" class="bone" pos="0.3263 -0.04724 -0.4636" mesh="Femoris_fabellae_L_2"/>
+                        <geom name="Femoris_fabellae_L_1" class="bone" pos="0.3263 -0.04724 -0.4636" mesh="Femoris_fabellae_L_1"/>
+                        <geom name="Patella_L" class="bone" pos="0.3263 -0.04724 -0.4636" mesh="Patella_L"/>
+                        <joint name="hip_L_supinate" class="hip_supinate" axis="0 0 -1"/>
+                        <joint name="hip_L_abduct" class="hip_abduct" axis="-1 0 0"/>
+                        <joint name="hip_L_extend" class="hip_extend" axis="0 1 0"/>
+                        <geom name="upper_leg_L0_collision" class="collision_primitive" size="0.04 0.08" pos="-0.01 0.02 -0.08" euler="10 20 0"/>
+                        <geom name="upper_leg_L1_collision" class="collision_primitive" size="0.04 0.04" pos="-0.03 0 -0.05" euler="10 5 0"/>
+                        <body name="lower_leg_L" pos="-0.02304 0.0311 -0.167">
+                          <geom name="Fibula_L" class="bone" pos="0.3493 -0.07834 -0.2966" mesh="Fibula_L"/>
+                          <geom name="Tibia_L" class="bone" pos="0.3493 -0.07834 -0.2966" mesh="Tibia_L"/>
+                          <joint name="knee_L" class="knee" axis="0 -1 0"/>
+                          <body name="foot_L" pos="-0.1791 -0.005642 -0.1382">
+                            <geom name="Tarsus_L_III" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Tarsus_L_III"/>
+                            <geom name="Calcaneal_tuber_L" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Calcaneal_tuber_L"/>
+                            <geom name="Tibial_tarsal_L" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Tibial_tarsal_L"/>
+                            <geom name="Tarsus_L_I" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Tarsus_L_I"/>
+                            <geom name="Tarsus_L_IV" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Tarsus_L_IV"/>
+                            <geom name="Tarsus_central_L" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Tarsus_central_L"/>
+                            <geom name="Metatarsi_L_4" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Metatarsi_L_4"/>
+                            <geom name="Metatarsi_L_2" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Metatarsi_L_2"/>
+                            <geom name="Metatarsi_L_3" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Metatarsi_L_3"/>
+                            <geom name="Metatarsi_L_1" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Metatarsi_L_1"/>
+                            <geom name="Tarsus_L_II" class="bone" pos="0.5285 -0.07269 -0.1583" mesh="Tarsus_L_II"/>
+                            <joint name="ankle_L" class="ankle" axis="0 1 0"/>
+                            <geom name="foot_L_collision" class="collision_primitive" size="0.015 0.07" pos="-0.01 0.005 -0.05"/>
+                            <body name="foot_anchor_L" pos="-0.01504 0.008131 -0.1199">
+                              <geom name="foot_anchor_L" class="foot_primitive" type="box" contype="0" conaffinity="0" size="0.005 0.005 0.005"/>
+                              <site name="foot_anchor_L" class="sensor"/>
+                              <body name="toe_L">
+                                <geom name="Phalanges_B_L_3" class="bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_L_3"/>
+                                <geom name="Phalanges_B_3_L_4" class="visible_bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_3_L_4"/>
+                                <geom name="Phalanges_B_L_2" class="bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_L_2"/>
+                                <geom name="Phalanges_B_2_L_1" class="bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_2_L_1"/>
+                                <geom name="Phalanges_B_2_L_3" class="bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_2_L_3"/>
+                                <geom name="Phalanges_B_L_1" class="bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_L_1"/>
+                                <geom name="Phalanges_B_2_L_2" class="bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_2_L_2"/>
+                                <geom name="Phalanges_B_3_L_3" class="visible_bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_3_L_3"/>
+                                <geom name="Phalanges_B_3_L_2" class="visible_bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_3_L_2"/>
+                                <geom name="Phalanges_B_L_4" class="bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_L_4"/>
+                                <geom name="Phalanges_B_3_L_1" class="visible_bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_3_L_1"/>
+                                <geom name="Phalanges_B_2_L_4" class="bone" pos="0.5435 -0.08083 -0.03838" mesh="Phalanges_B_2_L_4"/>
+                                <joint name="toe_L" class="toe" axis="0 1 0"/>
+                                <geom name="toe_L0_collision" class="foot_primitive" size="0.018 0.012" pos="0.015 0 -0.02" euler="90 0 0"/>
+                                <geom name="toe_L1_collision" class="foot_primitive" size="0.01 0.015" pos="0.035 0 -0.028" euler="90 0 0"/>
+                                <geom name="toe_L2_collision" class="foot_primitive" size="0.008 0.01" pos="0.045 0 -0.03" euler="90 0 0"/>
+                                <site name="sole_L" class="sensor" type="box" size="0.025 0.03 0.008" pos="0.026 0 -0.033"/>
+                                <geom name="toe_L_wrapping" class="wrapping" size="0.01 0.05"/>
+                                <site name="m_extensor_digitorum_longus_L_4" class="connector" group="4" pos="0.0209 -0.002492 0.0006168"/>
+                                <site name="m_extensor_digitorum_longus_L_5" class="connector" group="4" pos="0.04076 -0.0008855 -0.02674"/>
+                                <site name="m_extensor_digitorum_lateralis_L_4" class="connector" group="4" pos="0.003633 0.01576 -0.00373"/>
+                                <site name="m_flexor_digitorum_profundus_L(2)_4" class="connector" group="4" pos="0.02976 -0.00204 -0.02562"/>
+                                <site name="m_flexor_digitorum_profundus_L(2)_5" class="connector" group="4" pos="0.03835 -0.001387 -0.03532"/>
+                              </body>
+                            </body>
+                            <geom name="ankle_L_wrapping" class="wrapping" size="0.02 0.05"/>
+                            <site name="toe_L_wrapping_forward" class="wrapping" pos="0.07 0 -0.1199"/>
+                            <site name="toe_L_wrapping_backward" class="wrapping" pos="-0.07 0 -0.1199"/>
+                            <site name="m_extensor_digitorum_longus_L_3" class="connector" group="4" pos="0.009003 0.005881 -0.004074"/>
+                            <site name="m_tibialis_cranialis_L_2" class="connector" group="4" pos="0.008891 -0.005821 -0.005499"/>
+                            <site name="m_tibialis_cranialis_L_3" class="connector" group="4" pos="-0.001317 -0.007168 -0.02933"/>
+                            <site name="m_peroneus_longus_L_2" class="connector" group="4" pos="-0.002614 0.01565 0.00331"/>
+                            <site name="m_peroneus_longus_L_3" class="connector" group="4" pos="-0.02223 0.003038 -0.05004"/>
+                            <site name="m_extensor_digitorum_lateralis_L_2" class="connector" group="4" pos="-0.01026 0.01394 7.008e-05"/>
+                            <site name="m_extensor_digitorum_lateralis_L_3" class="connector" group="4" pos="-0.01685 0.02353 -0.1142"/>
+                            <site name="m_flexor_digitorum_superficialis_L.001_3" class="connector" group="4" pos="-0.003851 0.004112 0.0431"/>
+                            <site name="m_flexor_digitorum_superficialis_L.001_4" class="connector" group="4" pos="-0.02324 0.00427 0.02575"/>
+                            <site name="m_tibialis_caudalis_L_2" class="connector" group="4" pos="0.0003303 -0.01137 0.0008383"/>
+                            <site name="m_tibialis_caudalis_L_3" class="connector" group="4" pos="-0.0009192 -0.007216 -0.006844"/>
+                            <site name="m_gastrocnemius_L_3" class="connector" group="4" pos="0.000846 0.003235 0.04612"/>
+                            <site name="m_gastrocnemius_L_4" class="connector" group="4" pos="-0.01932 0.002505 0.02746"/>
+                            <site name="m_peroneus_brevis_L_2" class="connector" group="4" pos="-0.01175 0.01849 -0.03424"/>
+                            <site name="m_peroneus_brevis_L_3" class="connector" group="4" pos="-0.01666 0.01893 -0.05158"/>
+                            <site name="m_flexor_digitorum_profundus_L(2)_2" class="connector" group="4" pos="-0.01477 -0.006919 0.004781"/>
+                            <site name="m_flexor_digitorum_profundus_L(2)_3" class="connector" group="4" pos="-0.0224 0.003064 -0.1084"/>
+                          </body>
+                          <geom name="lower_leg_L_collision" class="collision_primitive" size="0.02 0.1" pos="-0.09531 0.000114 -0.06862" quat="0.8025 0.1849 0.4218 0.3793"/>
+                          <geom name="knee_L_wrapping" class="wrapping" size="0.02 0.05"/>
+                          <site name="ankle_L_wrapping_forward" class="wrapping" pos="-0.08 0 -0.1382"/>
+                          <site name="ankle_L_wrapping_backward" class="wrapping" pos="-0.25 0 -0.1382"/>
+                          <site name="m_extensor_digitorum_longus_L_1" class="connector" group="4" pos="-0.0341 0.01595 -0.03536"/>
+                          <site name="m_extensor_digitorum_longus_L_2" class="connector" group="4" pos="-0.1255 0.004028 -0.09754"/>
+                          <site name="m_tibialis_cranialis_L_0" class="connector" group="4" pos="-0.03791 0.02528 -0.002922"/>
+                          <site name="m_tibialis_cranialis_L_1" class="connector" group="4" pos="-0.1072 -0.000734 -0.08885"/>
+                          <site name="m_peroneus_longus_L_0" class="connector" group="4" pos="-0.03159 0.01914 -0.005681"/>
+                          <site name="m_peroneus_longus_L_1" class="connector" group="4" pos="-0.1246 0.008857 -0.08158"/>
+                          <site name="m_vastus_lat_ander_fascia_lata_L_2" class="connector" group="4" pos="0.0002189 7.884e-05 -0.02481"/>
+                          <site name="m_vastus_lat_ander_fascia_lata_L_3" class="connector" group="4" pos="-0.06813 -0.0001197 -0.0635"/>
+                          <site name="m_biceps_femoris_tendon_L_2" class="connector" group="4" pos="-0.0025 0.01255 -0.02261"/>
+                          <site name="m_biceps_femoris_tendon_L_3" class="connector" group="4" pos="-0.0734 0.003156 -0.0667"/>
+                          <site name="m_sartorius_L_3" class="connector" group="4" pos="-0.002411 -0.006575 -0.02723"/>
+                          <site name="m_sartorius_L_4" class="connector" group="4" pos="-0.01256 -0.001261 -0.03712"/>
+                          <site name="m_extensor_digitorum_lateralis_L_0" class="connector" group="4" pos="-0.0468 0.0207 -0.01443"/>
+                          <site name="m_extensor_digitorum_lateralis_L_1" class="connector" group="4" pos="-0.141 0.01051 -0.08458"/>
+                          <site name="m_flexor_digitorum_superficialis_L.001_1" class="connector" group="4" pos="-0.04087 0.007803 0.002177"/>
+                          <site name="m_flexor_digitorum_superficialis_L.001_2" class="connector" group="4" pos="-0.1372 0.001014 -0.06647"/>
+                          <site name="m_semitendinosus_L_2" class="connector" group="4" pos="-0.02672 -0.01954 0.01394"/>
+                          <site name="m_semitendinosus_L_3" class="connector" group="4" pos="-0.0349 -0.002894 -0.04811"/>
+                          <site name="m_gracilis_L_2" class="connector" group="4" pos="-0.02079 -0.0258 -0.002565"/>
+                          <site name="m_gracilis_L_3" class="connector" group="4" pos="-0.04363 -0.004685 -0.05182"/>
+                          <site name="m_biceps_femoris_L_3" class="connector" group="4" pos="-0.02802 0.02129 -0.00836"/>
+                          <site name="m_biceps_femoris_L_4" class="connector" group="4" pos="-0.04089 0.02097 -0.03779"/>
+                          <site name="m_abductor_cruris_L_3" class="connector" group="4" pos="-0.05774 0.01725 -0.01595"/>
+                          <site name="m_abductor_cruris_L_4" class="connector" group="4" pos="-0.1229 0.005978 -0.08675"/>
+                          <site name="m_tibialis_caudalis_L_0" class="connector" group="4" pos="-0.03969 0.0124 -0.008898"/>
+                          <site name="m_tibialis_caudalis_L_1" class="connector" group="4" pos="-0.1297 -0.0104 -0.08712"/>
+                          <site name="m_gastrocnemius_L_1" class="connector" group="4" pos="-0.04702 -0.0009958 0.004179"/>
+                          <site name="m_gastrocnemius_L_2" class="connector" group="4" pos="-0.1377 -0.00183 -0.06226"/>
+                          <site name="m_peroneus_brevis_L_0" class="connector" group="4" pos="-0.09965 0.008496 -0.05503"/>
+                          <site name="m_peroneus_brevis_L_1" class="connector" group="4" pos="-0.1902 0.005162 -0.1224"/>
+                          <site name="m_flexor_digitorum_profundus_L(2)_0" class="connector" group="4" pos="-0.04262 0.01143 -0.01222"/>
+                          <site name="m_flexor_digitorum_profundus_L(2)_1" class="connector" group="4" pos="-0.1414 -0.0083 -0.08658"/>
+                        </body>
+                        <site name="knee_L_wrapping_forward" class="wrapping" pos="0.07 0.0311 -0.175"/>
+                        <site name="knee_L_wrapping_backward" class="wrapping" pos="-0.09 0.0311 0"/>
+                        <site name="m_extensor_digitorum_longus_L_0" class="connector" group="4" pos="-0.01789 0.04012 -0.1667"/>
+                        <site name="m_sartorius_L(2)_1" class="connector" group="4" pos="0.0589 0.007053 -0.05147"/>
+                        <site name="m_sartorius_L(2)_2" class="connector" group="4" pos="0.01032 0.02158 -0.1547"/>
+                        <site name="m_sartorius_L(2)_3" class="connector" group="4" pos="-0.003248 0.03011 -0.174"/>
+                        <site name="m_vastus_lat_ander_fascia_lata_L_0" class="connector" group="4" pos="0.0007049 0.02755 0.01076"/>
+                        <site name="m_vastus_lat_ander_fascia_lata_L_1" class="connector" group="4" pos="0.01363 0.03204 -0.1046"/>
+                        <site name="m_rectus_femoris_L_1" class="connector" group="4" pos="0.02643 0.01764 -0.02463"/>
+                        <site name="m_rectus_femoris_L_2" class="connector" group="4" pos="0.01162 0.0312 -0.1385"/>
+                        <site name="m_rectus_femoris_L_3" class="connector" group="4" pos="0.002863 0.03199 -0.1698"/>
+                        <site name="m_biceps_femoris_tendon_L_0" class="connector" group="4" pos="0.03476 0.03604 -0.02522"/>
+                        <site name="m_biceps_femoris_tendon_L_1" class="connector" group="4" pos="0.0004942 0.04283 -0.1381"/>
+                        <site name="m_sartorius_L_1" class="connector" group="4" pos="0.04401 -0.001134 -0.04753"/>
+                        <site name="m_sartorius_L_2" class="connector" group="4" pos="0.002464 0.01528 -0.1486"/>
+                        <site name="m_gluteus_superficialis_major_L_1" class="connector" group="4" pos="0.006927 0.01169 0.02422"/>
+                        <site name="m_gluteus_superficialis_major_L_2" class="connector" group="4" pos="-0.002956 0.02762 -0.001474"/>
+                        <site name="m_pectineus_L_1" class="connector" group="4" pos="-0.0001989 0.001342 -0.05846"/>
+                        <site name="m_pectineus_L_2" class="connector" group="4" pos="8.57e-05 0.02397 -0.1328"/>
+                        <site name="m_flexor_digitorum_superficialis_L.001_0" class="connector" group="4" pos="-0.01264 0.03547 -0.1422"/>
+                        <site name="m_semitendinosus_L_1" class="connector" group="4" pos="-0.05441 0.001482 -0.08105"/>
+                        <site name="m_adductor_magnus_L_1" class="connector" group="4" pos="-0.01953 -0.0007754 -0.05158"/>
+                        <site name="m_adductor_magnus_L_2" class="connector" group="4" pos="-0.004456 0.02729 -0.1314"/>
+                        <site name="m_gracilis_L_1" class="connector" group="4" pos="-0.02503 -0.01653 -0.07178"/>
+                        <site name="m_biceps_femoris_L_1" class="connector" group="4" pos="-0.01475 0.01646 -0.0184"/>
+                        <site name="m_biceps_femoris_L_2" class="connector" group="4" pos="-0.0405 0.03844 -0.1263"/>
+                        <site name="m_abductor_cruris_L_1" class="connector" group="4" pos="-0.03319 0.007667 -0.02585"/>
+                        <site name="m_abductor_cruris_L_2" class="connector" group="4" pos="-0.05184 0.03848 -0.1398"/>
+                        <site name="m_gastrocnemius_L_0" class="connector" group="4" pos="-0.0235 0.04293 -0.133"/>
+                        <site name="m_semimembranosus_L_1" class="connector" group="4" pos="-0.03937 -0.00539 -0.0619"/>
+                        <site name="m_semimembranosus_L_2" class="connector" group="4" pos="-0.0241 0.02252 -0.1606"/>
+                      </body>
+                      <body name="upper_leg_R" pos="-0.01811 -0.04724 -0.0126">
+                        <geom name="Femoris_fabellae_R_2" class="bone" pos="0.3263 0.04724 -0.4636" mesh="Femoris_fabellae_R_2"/>
+                        <geom name="Femoris_fabellae_R_1" class="bone" pos="0.3263 0.04724 -0.4636" mesh="Femoris_fabellae_R_1"/>
+                        <geom name="Femoris_R" class="bone" pos="0.3263 0.04724 -0.4636" mesh="Femoris_R"/>
+                        <geom name="Patella_R" class="bone" pos="0.3263 0.04724 -0.4636" mesh="Patella_R"/>
+                        <joint name="hip_R_supinate" class="hip_supinate" axis="0 0 1"/>
+                        <joint name="hip_R_abduct" class="hip_abduct" axis="1 0 0"/>
+                        <joint name="hip_R_extend" class="hip_extend" axis="0 1 0"/>
+                        <geom name="upper_leg_R0_collision" class="collision_primitive" size="0.04 0.08" pos="-0.01 -0.02 -0.08" euler="-10 20 0"/>
+                        <geom name="upper_leg_R1_collision" class="collision_primitive" size="0.04 0.04" pos="-0.03 0 -0.05" euler="-10 5 0"/>
+                        <body name="lower_leg_R" pos="-0.02304 -0.0311 -0.167">
+                          <geom name="Fibula_R" class="bone" pos="0.3493 0.07834 -0.2966" mesh="Fibula_R"/>
+                          <geom name="Tibia_R" class="bone" pos="0.3493 0.07834 -0.2966" mesh="Tibia_R"/>
+                          <joint name="knee_R" class="knee" axis="0 -1 0"/>
+                          <body name="foot_R" pos="-0.1791 0.005642 -0.1382">
+                            <geom name="Tarsus_R_I" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Tarsus_R_I"/>
+                            <geom name="Tarsus_R_IV" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Tarsus_R_IV"/>
+                            <geom name="Tarsus_R_III" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Tarsus_R_III"/>
+                            <geom name="Calcaneal_tuber_R" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Calcaneal_tuber_R"/>
+                            <geom name="Tibial_tarsal_R" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Tibial_tarsal_R"/>
+                            <geom name="Tarsus_central_R" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Tarsus_central_R"/>
+                            <geom name="Metatarsi_R_3" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Metatarsi_R_3"/>
+                            <geom name="Metatarsi_R_2" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Metatarsi_R_2"/>
+                            <geom name="Metatarsi_R_1" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Metatarsi_R_1"/>
+                            <geom name="Metatarsi_R_4" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Metatarsi_R_4"/>
+                            <geom name="Tarsus_R_II" class="bone" pos="0.5285 0.07269 -0.1583" mesh="Tarsus_R_II"/>
+                            <joint name="ankle_R" class="ankle" axis="0 1 0"/>
+                            <geom name="foot_R_collision" class="collision_primitive" size="0.015 0.07" pos="-0.01 -0.005 -0.05"/>
+                            <body name="foot_anchor_R" pos="-0.01504 -0.008131 -0.1199">
+                              <geom name="foot_anchor_R" class="foot_primitive" type="box" contype="0" conaffinity="0" size="0.005 0.005 0.005"/>
+                              <site name="foot_anchor_R" class="sensor"/>
+                              <body name="toe_R">
+                                <geom name="Phalanges_B_3_R_2" class="visible_bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_3_R_2"/>
+                                <geom name="Phalanges_B_R_4" class="bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_R_4"/>
+                                <geom name="Phalanges_B_3_R_3" class="visible_bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_3_R_3"/>
+                                <geom name="Phalanges_B_2_R_4" class="bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_2_R_4"/>
+                                <geom name="Phalanges_B_3_R_1" class="visible_bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_3_R_1"/>
+                                <geom name="Phalanges_B_2_R_1" class="bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_2_R_1"/>
+                                <geom name="Phalanges_B_3_R_4" class="visible_bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_3_R_4"/>
+                                <geom name="Phalanges_B_R_2" class="bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_R_2"/>
+                                <geom name="Phalanges_B_R_3" class="bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_R_3"/>
+                                <geom name="Phalanges_B_2_R_2" class="bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_2_R_2"/>
+                                <geom name="Phalanges_B_R_1" class="bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_R_1"/>
+                                <geom name="Phalanges_B_2_R_3" class="bone" pos="0.5435 0.08083 -0.03838" mesh="Phalanges_B_2_R_3"/>
+                                <joint name="toe_R" class="toe" axis="0 1 0"/>
+                                <geom name="toe_R0_collision" class="foot_primitive" size="0.018 0.012" pos="0.015 0 -0.02" euler="90 0 0"/>
+                                <geom name="toe_R1_collision" class="foot_primitive" size="0.01 0.015" pos="0.035 0 -0.028" euler="90 0 0"/>
+                                <geom name="toe_R2_collision" class="foot_primitive" size="0.008 0.01" pos="0.045 0 -0.03" euler="90 0 0"/>
+                                <site name="sole_R" class="sensor" type="box" size="0.025 0.03 0.008" pos="0.026 0 -0.033"/>
+                                <geom name="toe_R_wrapping" class="wrapping" size="0.01 0.05"/>
+                                <site name="m_extensor_digitorum_longus_R_4" class="connector" group="4" pos="0.0209 0.002492 0.0006168"/>
+                                <site name="m_extensor_digitorum_longus_R_5" class="connector" group="4" pos="0.04076 0.0008855 -0.02674"/>
+                                <site name="m_extensor_digitorum_lateralis_R_4" class="connector" group="4" pos="0.003633 -0.01576 -0.00373"/>
+                                <site name="m_flexor_digitorum_profundus_R(2)_4" class="connector" group="4" pos="0.02976 0.002039 -0.02562"/>
+                                <site name="m_flexor_digitorum_profundus_R(2)_5" class="connector" group="4" pos="0.03835 0.001387 -0.03532"/>
+                              </body>
+                            </body>
+                            <geom name="ankle_R_wrapping" class="wrapping" size="0.02 0.05"/>
+                            <site name="toe_R_wrapping_forward" class="wrapping" pos="0.07 0 -0.1199"/>
+                            <site name="toe_R_wrapping_backward" class="wrapping" pos="-0.07 0 -0.1199"/>
+                            <site name="m_extensor_digitorum_longus_R_3" class="connector" group="4" pos="0.009003 -0.005881 -0.004074"/>
+                            <site name="m_tibialis_cranialis_R_2" class="connector" group="4" pos="0.008891 0.005821 -0.005498"/>
+                            <site name="m_tibialis_cranialis_R_3" class="connector" group="4" pos="-0.001317 0.007168 -0.02933"/>
+                            <site name="m_peroneus_longus_R_2" class="connector" group="4" pos="-0.002614 -0.01565 0.00331"/>
+                            <site name="m_peroneus_longus_R_3" class="connector" group="4" pos="-0.02223 -0.003038 -0.05004"/>
+                            <site name="m_extensor_digitorum_lateralis_R_2" class="connector" group="4" pos="-0.01026 -0.01394 7.008e-05"/>
+                            <site name="m_extensor_digitorum_lateralis_R_3" class="connector" group="4" pos="-0.01685 -0.02353 -0.1142"/>
+                            <site name="m_flexor_digitorum_superficialis_R_3" class="connector" group="4" pos="-0.003851 -0.004112 0.0431"/>
+                            <site name="m_flexor_digitorum_superficialis_R_4" class="connector" group="4" pos="-0.02324 -0.00427 0.02575"/>
+                            <site name="m_tibialis_caudalis_R_2" class="connector" group="4" pos="0.0003303 0.01137 0.0008383"/>
+                            <site name="m_tibialis_caudalis_R_3" class="connector" group="4" pos="-0.0009192 0.007216 -0.006844"/>
+                            <site name="m_gastrocnemius_R_3" class="connector" group="4" pos="0.000846 -0.003235 0.04612"/>
+                            <site name="m_gastrocnemius_R_4" class="connector" group="4" pos="-0.01932 -0.002505 0.02746"/>
+                            <site name="m_peroneus_brevis_R_2" class="connector" group="4" pos="-0.01175 -0.01849 -0.03424"/>
+                            <site name="m_peroneus_brevis_R_3" class="connector" group="4" pos="-0.01666 -0.01893 -0.05158"/>
+                            <site name="m_flexor_digitorum_profundus_R(2)_2" class="connector" group="4" pos="-0.01477 0.006919 0.004781"/>
+                            <site name="m_flexor_digitorum_profundus_R(2)_3" class="connector" group="4" pos="-0.0224 -0.003064 -0.1084"/>
+                          </body>
+                          <geom name="lower_leg_R_collision" class="collision_primitive" size="0.02 0.1" pos="-0.09531 -0.000114 -0.06862" quat="0.3793 0.4218 0.1849 0.8025"/>
+                          <geom name="knee_R_wrapping" class="wrapping" size="0.02 0.05"/>
+                          <site name="ankle_R_wrapping_forward" class="wrapping" pos="-0.08 0 -0.1382"/>
+                          <site name="ankle_R_wrapping_backward" class="wrapping" pos="-0.25 0 -0.1382"/>
+                          <site name="m_extensor_digitorum_longus_R_1" class="connector" group="4" pos="-0.0341 -0.01595 -0.03536"/>
+                          <site name="m_extensor_digitorum_longus_R_2" class="connector" group="4" pos="-0.1255 -0.004028 -0.09754"/>
+                          <site name="m_tibialis_cranialis_R_0" class="connector" group="4" pos="-0.03791 -0.02528 -0.002922"/>
+                          <site name="m_tibialis_cranialis_R_1" class="connector" group="4" pos="-0.1072 0.000734 -0.08885"/>
+                          <site name="m_peroneus_longus_R_0" class="connector" group="4" pos="-0.03159 -0.01914 -0.005681"/>
+                          <site name="m_peroneus_longus_R_1" class="connector" group="4" pos="-0.1246 -0.008857 -0.08158"/>
+                          <site name="m_vastus_lat_ander_fascia_lata_R_2" class="connector" group="4" pos="0.0002189 -7.886e-05 -0.02481"/>
+                          <site name="m_vastus_lat_ander_fascia_lata_R_3" class="connector" group="4" pos="-0.06813 0.0001197 -0.0635"/>
+                          <site name="m_biceps_femoris_tendon_R_2" class="connector" group="4" pos="-0.0025 -0.01255 -0.02261"/>
+                          <site name="m_biceps_femoris_tendon_R_3" class="connector" group="4" pos="-0.0734 -0.003156 -0.0667"/>
+                          <site name="m_sartorius_R_3" class="connector" group="4" pos="-0.002411 0.006575 -0.02723"/>
+                          <site name="m_sartorius_R_4" class="connector" group="4" pos="-0.01256 0.001261 -0.03712"/>
+                          <site name="m_extensor_digitorum_lateralis_R_0" class="connector" group="4" pos="-0.0468 -0.0207 -0.01443"/>
+                          <site name="m_extensor_digitorum_lateralis_R_1" class="connector" group="4" pos="-0.141 -0.01051 -0.08458"/>
+                          <site name="m_flexor_digitorum_superficialis_R_1" class="connector" group="4" pos="-0.04087 -0.007803 0.002177"/>
+                          <site name="m_flexor_digitorum_superficialis_R_2" class="connector" group="4" pos="-0.1372 -0.001014 -0.06647"/>
+                          <site name="m_semitendinosus_R_2" class="connector" group="4" pos="-0.02672 0.01954 0.01394"/>
+                          <site name="m_semitendinosus_R_3" class="connector" group="4" pos="-0.0349 0.002894 -0.04811"/>
+                          <site name="m_gracilis_R_2" class="connector" group="4" pos="-0.02079 0.0258 -0.002565"/>
+                          <site name="m_gracilis_R_3" class="connector" group="4" pos="-0.04363 0.004685 -0.05182"/>
+                          <site name="m_biceps_femoris_R_3" class="connector" group="4" pos="-0.02802 -0.02129 -0.00836"/>
+                          <site name="m_biceps_femoris_R_4" class="connector" group="4" pos="-0.04089 -0.02097 -0.03779"/>
+                          <site name="m_abductor_cruris_R_3" class="connector" group="4" pos="-0.05774 -0.01725 -0.01595"/>
+                          <site name="m_abductor_cruris_R_4" class="connector" group="4" pos="-0.1229 -0.005978 -0.08675"/>
+                          <site name="m_tibialis_caudalis_R_0" class="connector" group="4" pos="-0.03969 -0.0124 -0.008898"/>
+                          <site name="m_tibialis_caudalis_R_1" class="connector" group="4" pos="-0.1297 0.0104 -0.08712"/>
+                          <site name="m_gastrocnemius_R_1" class="connector" group="4" pos="-0.04702 0.0009957 0.004179"/>
+                          <site name="m_gastrocnemius_R_2" class="connector" group="4" pos="-0.1377 0.00183 -0.06226"/>
+                          <site name="m_peroneus_brevis_R_0" class="connector" group="4" pos="-0.09965 -0.008496 -0.05503"/>
+                          <site name="m_peroneus_brevis_R_1" class="connector" group="4" pos="-0.1902 -0.005162 -0.1224"/>
+                          <site name="m_flexor_digitorum_profundus_R(2)_0" class="connector" group="4" pos="-0.04262 -0.01143 -0.01222"/>
+                          <site name="m_flexor_digitorum_profundus_R(2)_1" class="connector" group="4" pos="-0.1414 0.0083 -0.08658"/>
+                        </body>
+                        <site name="knee_R_wrapping_forward" class="wrapping" pos="0.07 -0.0311 -0.175"/>
+                        <site name="knee_R_wrapping_backward" class="wrapping" pos="-0.09 -0.0311 0"/>
+                        <site name="m_extensor_digitorum_longus_R_0" class="connector" group="4" pos="-0.01789 -0.04012 -0.1667"/>
+                        <site name="m_sartorius_R(2)_1" class="connector" group="4" pos="0.0589 -0.007053 -0.05147"/>
+                        <site name="m_sartorius_R(2)_2" class="connector" group="4" pos="0.01032 -0.02158 -0.1547"/>
+                        <site name="m_sartorius_R(2)_3" class="connector" group="4" pos="-0.003248 -0.03011 -0.174"/>
+                        <site name="m_vastus_lat_ander_fascia_lata_R_0" class="connector" group="4" pos="0.0007049 -0.02755 0.01076"/>
+                        <site name="m_vastus_lat_ander_fascia_lata_R_1" class="connector" group="4" pos="0.01363 -0.03204 -0.1046"/>
+                        <site name="m_rectus_femoris_R_1" class="connector" group="4" pos="0.02643 -0.01764 -0.02463"/>
+                        <site name="m_rectus_femoris_R_2" class="connector" group="4" pos="0.01162 -0.0312 -0.1385"/>
+                        <site name="m_rectus_femoris_R_3" class="connector" group="4" pos="0.002863 -0.03199 -0.1698"/>
+                        <site name="m_biceps_femoris_tendon_R_0" class="connector" group="4" pos="0.03476 -0.03604 -0.02522"/>
+                        <site name="m_biceps_femoris_tendon_R_1" class="connector" group="4" pos="0.0004942 -0.04283 -0.1381"/>
+                        <site name="m_sartorius_R_1" class="connector" group="4" pos="0.04401 0.001133 -0.04753"/>
+                        <site name="m_sartorius_R_2" class="connector" group="4" pos="0.002464 -0.01528 -0.1486"/>
+                        <site name="m_gluteus_superficialis_major_R_1" class="connector" group="4" pos="0.006927 -0.01169 0.02422"/>
+                        <site name="m_gluteus_superficialis_major_R_2" class="connector" group="4" pos="-0.002956 -0.02762 -0.001474"/>
+                        <site name="m_pectineus_R_1" class="connector" group="4" pos="-0.0001989 -0.001342 -0.05846"/>
+                        <site name="m_pectineus_R_2" class="connector" group="4" pos="8.57e-05 -0.02397 -0.1328"/>
+                        <site name="m_flexor_digitorum_superficialis_R_0" class="connector" group="4" pos="-0.01264 -0.03547 -0.1422"/>
+                        <site name="m_semitendinosus_R_1" class="connector" group="4" pos="-0.05441 -0.001482 -0.08105"/>
+                        <site name="m_adductor_magnus_R_1" class="connector" group="4" pos="-0.01953 0.0007754 -0.05158"/>
+                        <site name="m_adductor_magnus_R_2" class="connector" group="4" pos="-0.004456 -0.02729 -0.1314"/>
+                        <site name="m_gracilis_R_1" class="connector" group="4" pos="-0.02503 0.01653 -0.07178"/>
+                        <site name="m_biceps_femoris_R_1" class="connector" group="4" pos="-0.01475 -0.01646 -0.0184"/>
+                        <site name="m_biceps_femoris_R_2" class="connector" group="4" pos="-0.0405 -0.03844 -0.1263"/>
+                        <site name="m_abductor_cruris_R_1" class="connector" group="4" pos="-0.03319 -0.007667 -0.02585"/>
+                        <site name="m_abductor_cruris_R_2" class="connector" group="4" pos="-0.05184 -0.03848 -0.1398"/>
+                        <site name="m_gastrocnemius_R_0" class="connector" group="4" pos="-0.0235 -0.04293 -0.133"/>
+                        <site name="m_semimembranosus_R_1" class="connector" group="4" pos="-0.03937 0.00539 -0.0619"/>
+                        <site name="m_semimembranosus_R_2" class="connector" group="4" pos="-0.0241 -0.02252 -0.1606"/>
+                      </body>
+                      <body name="Ca_1" pos="0.008246 0 0.04354">
+                        <geom name="Ca_1" class="bone" pos="0.2999 0 -0.5197" mesh="Ca_1"/>
+                        <body name="Ca_2" pos="-0.01491 0 4.68e-05">
+                          <geom name="Ca_2" class="bone" pos="0.3148 0 -0.5198" mesh="Ca_2"/>
+                          <body name="Ca_3" pos="-0.01408 0 -0.001087">
+                            <geom name="Ca_3" class="bone" pos="0.3289 0 -0.5187" mesh="Ca_3"/>
+                            <body name="Ca_4" pos="-0.01251 0 -0.002837">
+                              <geom name="Ca_4" class="bone" pos="0.3414 0 -0.5158" mesh="Ca_4"/>
+                              <body name="Ca_5" pos="-0.01378 -1.652e-06 -0.006535">
+                                <geom name="Ca_5" class="bone" pos="0.3552 1.687e-06 -0.5093" mesh="Ca_5"/>
+                                <body name="Ca_6" pos="-0.01638 -1.001e-05 -0.009834">
+                                  <geom name="Ca_6" class="bone" pos="0.3716 1.17e-05 -0.4995" mesh="Ca_6"/>
+                                  <body name="Ca_7" pos="-0.01621 1.419e-05 -0.01147">
+                                    <geom name="Ca_7" class="bone" pos="0.3878 -2.497e-06 -0.488" mesh="Ca_7"/>
+                                    <body name="Ca_8" pos="-0.01845 0.0002126 -0.01312">
+                                      <geom name="Ca_8" class="bone" pos="0.4063 -0.0002151 -0.4749" mesh="Ca_8"/>
+                                      <body name="Ca_9" pos="-0.01983 -1.086e-05 -0.01768">
+                                        <geom name="Ca_9" class="bone" pos="0.4261 -0.0002042 -0.4572" mesh="Ca_9"/>
+                                        <body name="Ca_10" pos="-0.02339 1.141e-05 -0.02203">
+                                          <geom name="Ca_10" class="bone" pos="0.4495 -0.0002156 -0.4352" mesh="Ca_10"/>
+                                          <body name="Ca_11" pos="-0.0242 -5.344e-06 -0.02238">
+                                            <geom name="Ca_11" class="bone" pos="0.4737 -0.0002103 -0.4128" mesh="Ca_11"/>
+                                            <body name="Ca_12" pos="-0.02408 -5.542e-05 -0.01968">
+                                              <geom name="Ca_12" class="bone" pos="0.4978 -0.0001549 -0.3931" mesh="Ca_12"/>
+                                              <body name="Ca_13" pos="-0.02323 -1.203e-05 -0.01778">
+                                                <geom name="Ca_13" class="bone" pos="0.521 -0.0001428 -0.3753" mesh="Ca_13"/>
+                                                <body name="Ca_14" pos="-0.02324 -9.035e-05 -0.01833">
+                                                  <geom name="Ca_14" class="bone" pos="0.5442 -5.248e-05 -0.357" mesh="Ca_14"/>
+                                                  <body name="Ca_15" pos="-0.02464 5.041e-05 -0.01425">
+                                                    <geom name="Ca_15" class="bone" pos="0.5689 -0.0001029 -0.3427" mesh="Ca_15"/>
+                                                    <body name="Ca_16" pos="-0.02334 -3.137e-05 -0.008501">
+                                                      <geom name="Ca_16" class="bone" pos="0.5922 -7.152e-05 -0.3342" mesh="Ca_16"/>
+                                                      <body name="Ca_17" pos="-0.02444 -1.408e-05 -0.005367">
+                                                        <geom name="Ca_17" class="bone" pos="0.6167 -5.744e-05 -0.3289" mesh="Ca_17"/>
+                                                        <body name="Ca_18" pos="-0.02601 1.355e-05 -0.002206">
+                                                          <geom name="Ca_18" class="bone" pos="0.6427 -7.099e-05 -0.3267" mesh="Ca_18"/>
+                                                          <body name="Ca_19" pos="-0.02665 3.203e-05 0.0006858">
+                                                            <geom name="Ca_19" class="bone" pos="0.6693 -0.000103 -0.3274" mesh="Ca_19"/>
+                                                            <body name="Ca_20" pos="-0.02684 -6.567e-05 0.004027">
+                                                            <geom name="Ca_20" class="bone" pos="0.6962 -3.735e-05 -0.3314" mesh="Ca_20"/>
+                                                            <body name="Ca_21" pos="-0.02029 4.463e-05 0.004863">
+                                                            <geom name="Ca_21" class="bone" pos="0.7165 -8.198e-05 -0.3363" mesh="Ca_21"/>
+                                                            <joint name="Ca_21_extend" class="caudal_extend" pos="0.01019 -2.24e-05 -0.002441" axis="0 1 0"/>
+                                                            <site name="tail_tip" class="sensor" size="0.005"/>
+                                                            <geom name="Ca_21_collision" class="collision_primitive" size="0.002333 0.01465 0.01047" pos="0 0 0" quat="-0.01753 0.8023 -0.02359 0.5962"/>
+                                                            <site name="m_levator_caudae_brevis_R2_0" class="connector" group="4" pos="-0.005631 -0.0008075 0.001786"/>
+                                                            <site name="m_depressor_caudae_brevis_R2_0" class="connector" group="4" pos="0.001937 -0.001155 -0.000601"/>
+                                                            <site name="m_depressor_caudae_brevis_L2_0" class="connector" group="4" pos="0.001937 0.0009905 -0.000601"/>
+                                                            <site name="m_levator_caudae_brevis_L2_0" class="connector" group="4" pos="-0.005631 0.0006435 0.001786"/>
+                                                            <site name="m_depressor_caudae_brevis_L_0" class="connector" group="4" pos="0.0006231 0.0004396 -0.0003761"/>
+                                                            <site name="m_depressor_caudae_brevis_R2(2)_0" class="connector" group="4" pos="0.00156 -0.0007245 -0.001112"/>
+                                                            <site name="m_depressor_caudae_brevis_R_0" class="connector" group="4" pos="0.0006231 -0.0006037 -0.0003761"/>
+                                                            <site name="m_depressor_caudae_brevis_L2(2)_0" class="connector" group="4" pos="0.00156 0.0005604 -0.001112"/>
+                                                            </body>
+                                                            <joint name="Ca_20_bend" class="caudal_bend" pos="0.01208 2.955e-05 -0.001812" axis="-0.1484 0 -0.9889"/>
+                                                            <geom name="Ca_20_collision" class="collision_primitive" size="0.002796 0.01437 0.01221" pos="0 0 0" quat="-0.08266 0.759 -0.09852 0.6383"/>
+                                                            </body>
+                                                            <joint name="Ca_19_extend" class="caudal_extend" pos="0.01374 -1.65e-05 -0.0003534" axis="0 1 0"/>
+                                                            <geom name="Ca_19_collision" class="collision_primitive" size="0.003607 0.01675 0.01374" pos="0 0 0" quat="-0.06402 0.751 -0.07658 0.6527"/>
+                                                            <site name="m_levator_caudae_brevis_R2_1" class="connector" group="4" pos="0.00375 -0.001872 0.001792"/>
+                                                            <site name="m_levator_caudae_brevis_L2_1" class="connector" group="4" pos="0.00375 0.001666 0.001792"/>
+                                                            <site name="m_depressor_caudae_brevis_L_1" class="connector" group="4" pos="0.009578 0.003406 -0.001727"/>
+                                                            <site name="m_depressor_caudae_brevis_R2(2)_1" class="connector" group="4" pos="0.01059 -0.001287 -0.003654"/>
+                                                            <site name="m_depressor_caudae_brevis_R_1" class="connector" group="4" pos="0.009578 -0.003612 -0.001727"/>
+                                                            <site name="m_depressor_caudae_brevis_L2(2)_1" class="connector" group="4" pos="0.01059 0.001081 -0.003654"/>
+                                                          </body>
+                                                          <joint name="Ca_18_bend" class="caudal_bend" pos="0.01376 -7.166e-06 0.001167" axis="0.0845 0 -0.9964"/>
+                                                          <geom name="Ca_18_collision" class="collision_primitive" size="0.004119 0.01638 0.01381" pos="0 0 0" quat="0.5134 0.488 0.4862 0.5118"/>
+                                                          <site name="m_levator_caudae_longus_R_7" class="connector" group="4" pos="-0.01148 -0.002739 0.01027"/>
+                                                          <site name="m_levator_caudae_longus_R_8" class="connector" group="4" pos="-0.009031 -0.0039 -1.375e-05"/>
+                                                          <site name="m_depressor_caudae_brevis_R2_1" class="connector" group="4" pos="-0.01418 -0.002364 -0.002336"/>
+                                                          <site name="m_depressor_caudae_brevis_L2_1" class="connector" group="4" pos="-0.01418 0.002222 -0.002336"/>
+                                                          <site name="m_levator_caudae_longus_L_7" class="connector" group="4" pos="-0.01148 0.002597 0.01027"/>
+                                                          <site name="m_levator_caudae_longus_L_8" class="connector" group="4" pos="-0.009031 0.003758 -1.375e-05"/>
+                                                        </body>
+                                                        <joint name="Ca_17_extend" class="caudal_extend" pos="0.01258 7.25e-06 0.002763" axis="0 1 0"/>
+                                                        <geom name="Ca_17_collision" class="collision_primitive" size="0.004119 0.01702 0.01288" pos="0 0 0" quat="-0.1046 0.6553 -0.09504 0.742"/>
+                                                        <site name="m_levator_caudae_brevis_R2_2" class="connector" group="4" pos="0.007598 -0.001826 0.004217"/>
+                                                        <site name="m_levator_caudae_brevis_L2_2" class="connector" group="4" pos="0.007598 0.001711 0.004217"/>
+                                                      </body>
+                                                      <joint name="Ca_16_bend" class="caudal_bend" pos="0.01112 1.495e-05 0.004052" axis="0.3423 0 -0.9396"/>
+                                                      <geom name="Ca_16_collision" class="collision_primitive" size="0.003778 0.01477 0.01184" pos="0 0 0" quat="-0.08502 0.5886 -0.06582 0.8012"/>
+                                                      <site name="m_depressor_caudae_brevis_R2_2" class="connector" group="4" pos="-0.006961 -0.002907 -0.003919"/>
+                                                      <site name="m_depressor_caudae_brevis_L2_2" class="connector" group="4" pos="-0.006961 0.002764 -0.003919"/>
+                                                      <site name="m_depressor_caudae_brevis_L_2" class="connector" group="4" pos="-0.01046 0.003789 -0.002849"/>
+                                                      <site name="m_depressor_caudae_brevis_R2(2)_2" class="connector" group="4" pos="-0.01036 -0.001509 -0.005965"/>
+                                                      <site name="m_depressor_caudae_brevis_R_2" class="connector" group="4" pos="-0.01046 -0.003932 -0.002849"/>
+                                                      <site name="m_depressor_caudae_brevis_L2(2)_2" class="connector" group="4" pos="-0.01036 0.001366 -0.005965"/>
+                                                    </body>
+                                                    <joint name="Ca_15_extend" class="caudal_extend" pos="0.0101 -2.067e-05 0.005844" axis="0 1 0"/>
+                                                    <geom name="Ca_15_collision" class="collision_primitive" size="0.004057 0.01382 0.01167" pos="0 0 0" quat="-0.08361 0.5581 -0.05982 0.8234"/>
+                                                    <site name="m_levator_caudae_longus_R_6" class="connector" group="4" pos="0.002845 -0.003304 0.003547"/>
+                                                    <site name="m_levator_caudae_longus_L_6" class="connector" group="4" pos="0.002845 0.003098 0.003547"/>
+                                                  </body>
+                                                  <joint name="Ca_14_bend" class="caudal_bend" pos="0.01209 4.701e-05 0.009535" axis="0.6191 0 -0.7853"/>
+                                                  <geom name="Ca_14_collision" class="collision_primitive" size="0.00485 0.01443 0.0154" pos="0 0 0" quat="0.6807 0.2956 0.3441 0.5752"/>
+                                                  <site name="m_levator_caudae_brevis_R2_3" class="connector" group="4" pos="-0.00831 -0.001821 -0.001078"/>
+                                                  <site name="m_depressor_caudae_brevis_R2_3" class="connector" group="4" pos="-0.006374 -0.003381 -0.007355"/>
+                                                  <site name="m_depressor_caudae_brevis_L2_3" class="connector" group="4" pos="-0.006374 0.003276 -0.007355"/>
+                                                  <site name="m_levator_caudae_brevis_L2_3" class="connector" group="4" pos="-0.00831 0.001716 -0.001078"/>
+                                                  <site name="m_depressor_caudae_brevis_L_3" class="connector" group="4" pos="-0.01022 0.004285 -0.007513"/>
+                                                  <site name="m_depressor_caudae_brevis_R2(2)_3" class="connector" group="4" pos="-0.002176 -0.001682 -0.005704"/>
+                                                  <site name="m_depressor_caudae_brevis_R_3" class="connector" group="4" pos="-0.01022 -0.00439 -0.007513"/>
+                                                  <site name="m_depressor_caudae_brevis_L2(2)_3" class="connector" group="4" pos="-0.002176 0.001577 -0.005704"/>
+                                                </body>
+                                                <joint name="Ca_13_extend" class="caudal_extend" pos="0.01024 5.3e-06 0.007833" axis="0 1 0"/>
+                                                <geom name="Ca_13_collision" class="collision_primitive" size="0.005011 0.01403 0.01289" pos="0 0 0" quat="0.6568 0.301 0.3235 0.611"/>
+                                                <site name="m_levator_caudae_longus_R_5" class="connector" group="4" pos="0.002883 -0.003557 0.005561"/>
+                                                <site name="m_levator_caudae_longus_L_5" class="connector" group="4" pos="0.002883 0.003271 0.005561"/>
+                                              </body>
+                                              <joint name="Ca_12_bend" class="caudal_bend" pos="0.01171 2.695e-05 0.009567" axis="0.6328 0 -0.7743"/>
+                                              <geom name="Ca_12_collision" class="collision_primitive" size="0.005297 0.01585 0.01512" pos="0 0 0" quat="-0.06718 0.4323 -0.03222 0.8986"/>
+                                              <site name="m_levator_caudae_brevis_R2_4" class="connector" group="4" pos="-0.008363 -0.001924 -0.002201"/>
+                                              <site name="m_depressor_caudae_brevis_R2_4" class="connector" group="4" pos="-0.005295 -0.004202 -0.007379"/>
+                                              <site name="m_depressor_caudae_brevis_L2_4" class="connector" group="4" pos="-0.005295 0.003892 -0.007379"/>
+                                              <site name="m_levator_caudae_brevis_L2_4" class="connector" group="4" pos="-0.008363 0.001614 -0.002201"/>
+                                              <site name="m_depressor_caudae_brevis_L_4" class="connector" group="4" pos="-0.009465 0.004574 -0.007329"/>
+                                              <site name="m_depressor_caudae_brevis_R2(2)_4" class="connector" group="4" pos="-0.001205 -0.002084 -0.005539"/>
+                                              <site name="m_depressor_caudae_brevis_R_4" class="connector" group="4" pos="-0.009465 -0.004883 -0.007329"/>
+                                              <site name="m_depressor_caudae_brevis_L2(2)_4" class="connector" group="4" pos="-0.001205 0.001774 -0.005539"/>
+                                            </body>
+                                            <joint name="Ca_11_extend" class="caudal_extend" pos="0.01111 2.453e-06 0.01027" axis="0 1 0"/>
+                                            <geom name="Ca_11_collision" class="collision_primitive" size="0.005697 0.01602 0.01513" pos="0 0 0" quat="-0.04424 0.416 -0.02013 0.9081"/>
+                                            <site name="m_levator_caudae_longus_R_4" class="connector" group="4" pos="-0.004269 -0.003803 0.001768"/>
+                                            <site name="m_levator_caudae_brevis_R2_5" class="connector" group="4" pos="0.005904 -0.001979 0.01078"/>
+                                            <site name="m_depressor_caudae_brevis_R2_5" class="connector" group="4" pos="0.01008 -0.004505 0.005679"/>
+                                            <site name="m_depressor_caudae_brevis_L2_5" class="connector" group="4" pos="0.01008 0.004085 0.005679"/>
+                                            <site name="m_levator_caudae_brevis_L2_5" class="connector" group="4" pos="0.005904 0.001559 0.01078"/>
+                                            <site name="m_levator_caudae_longus_L_4" class="connector" group="4" pos="-0.004269 0.003382 0.001768"/>
+                                          </body>
+                                          <joint name="Ca_10_bend" class="caudal_bend" pos="0.01207 -5.889e-06 0.01137" axis="0.6856 0 -0.728"/>
+                                          <geom name="Ca_10_collision" class="collision_primitive" size="0.006059 0.01487 0.01658" pos="0 0 0" quat="-0.05502 0.3972 -0.02343 0.9158"/>
+                                          <site name="m_levator_caudae_longus_R_3" class="connector" group="4" pos="0.009079 -0.003979 0.01305"/>
+                                          <site name="m_depressor_caudae_brevis_L_5" class="connector" group="4" pos="-0.01051 0.004457 -0.01019"/>
+                                          <site name="m_depressor_caudae_brevis_R2(2)_5" class="connector" group="4" pos="-0.003004 -0.002204 -0.008294"/>
+                                          <site name="m_depressor_caudae_brevis_R_5" class="connector" group="4" pos="-0.01051 -0.004888 -0.01019"/>
+                                          <site name="m_levator_caudae_longus_L_3" class="connector" group="4" pos="0.009079 0.003547 0.01305"/>
+                                          <site name="m_depressor_caudae_brevis_L2(2)_5" class="connector" group="4" pos="-0.003004 0.001772 -0.008294"/>
+                                        </body>
+                                        <joint name="Ca_9_extend" class="caudal_extend" pos="0.009022 4.94e-06 0.008041" axis="0 1 0"/>
+                                        <geom name="Ca_9_collision" class="collision_primitive" size="0.005861 0.01177 0.01208" pos="0 0 0" quat="0.7194 0.2402 0.298 0.5796"/>
+                                        <site name="m_levator_caudae_brevis_R2_6" class="connector" group="4" pos="-0.004341 -0.002088 0.0006702"/>
+                                        <site name="m_depressor_caudae_brevis_R2_6" class="connector" group="4" pos="0.0009467 -0.004123 -0.004759"/>
+                                        <site name="m_depressor_caudae_brevis_L2_6" class="connector" group="4" pos="0.0009467 0.003715 -0.004759"/>
+                                        <site name="m_levator_caudae_brevis_L2_6" class="connector" group="4" pos="-0.004341 0.001679 0.0006702"/>
+                                        <site name="m_depressor_caudae_brevis_L_6" class="connector" group="4" pos="0.004476 0.005091 0.002614"/>
+                                        <site name="m_depressor_caudae_brevis_R2(2)_6" class="connector" group="4" pos="0.01137 -0.001813 0.004063"/>
+                                        <site name="m_depressor_caudae_brevis_R_6" class="connector" group="4" pos="0.004476 -0.0055 0.002614"/>
+                                        <site name="m_depressor_caudae_brevis_L2(2)_6" class="connector" group="4" pos="0.01137 0.001405 0.004063"/>
+                                      </body>
+                                      <joint name="Ca_8_bend" class="caudal_bend" pos="0.008997 -0.0001036 0.006397" axis="0.5795 0 -0.8149"/>
+                                      <geom name="Ca_8_collision" class="collision_primitive" size="0.00523 0.01025 0.01104" pos="0 0 0" quat="-0.224 0.4003 -0.1018 0.8827"/>
+                                      <site name="m_levator_caudae_longus_R_2" class="connector" group="4" pos="0.005054 -0.004408 0.007938"/>
+                                      <site name="m_levator_caudae_longus_L_2" class="connector" group="4" pos="0.005054 0.003978 0.007938"/>
+                                    </body>
+                                    <joint name="Ca_7_extend" class="caudal_extend" pos="0.00811 -7.103e-06 0.005741" axis="0 1 0"/>
+                                    <geom name="Ca_7_collision" class="collision_primitive" size="0.007262 0.01135 0.009937" pos="0 0 0" quat="0.6232 0.3295 0.3258 0.63"/>
+                                    <site name="m_levator_caudae_brevis_R2_7" class="connector" group="4" pos="0.004803 -0.002065 0.008924"/>
+                                    <site name="m_depressor_caudae_brevis_R2_7" class="connector" group="4" pos="0.001108 -0.003922 -0.003367"/>
+                                    <site name="m_depressor_caudae_brevis_L2_7" class="connector" group="4" pos="0.001108 0.003917 -0.003367"/>
+                                    <site name="m_levator_caudae_brevis_L2_7" class="connector" group="4" pos="0.004803 0.00206 0.008924"/>
+                                  </body>
+                                  <joint name="Ca_6_bend" class="caudal_bend" pos="0.008263 5.048e-06 0.00496" axis="0.5146 0 -0.8574"/>
+                                  <geom name="Ca_6_collision" class="collision_primitive" size="0.007325 0.01226 0.009637" pos="0 0 0" quat="-0.01458 0.4737 -0.007547 0.8805"/>
+                                  <site name="m_depressor_caudae_brevis_L_7" class="connector" group="4" pos="-0.002785 0.006578 -0.002042"/>
+                                  <site name="m_depressor_caudae_brevis_R2(2)_7" class="connector" group="4" pos="0.003356 -0.001703 -0.002952"/>
+                                  <site name="m_depressor_caudae_brevis_R_7" class="connector" group="4" pos="-0.002785 -0.006555 -0.002042"/>
+                                  <site name="m_depressor_caudae_brevis_L2(2)_7" class="connector" group="4" pos="0.003356 0.001726 -0.002952"/>
+                                </body>
+                                <joint name="Ca_5_extend" class="caudal_extend" pos="0.01004 1.203e-06 0.004759" axis="0 1 0"/>
+                                <geom name="Ca_5_collision" class="collision_primitive" size="0.007544 0.01236 0.01111" pos="0 0 0" quat="0.007306 0.5097 0.005025 0.8603"/>
+                                <site name="m_levator_caudae_longus_R_1" class="connector" group="4" pos="-0.004477 -0.004808 0.002497"/>
+                                <site name="m_levator_caudae_longus_L_1" class="connector" group="4" pos="-0.004477 0.004811 0.002497"/>
+                              </body>
+                              <joint name="Ca_4_bend" class="caudal_bend" pos="0.01009 0 0.002288" axis="0.2212 0 -0.9752"/>
+                              <geom name="Ca_4_collision" class="collision_primitive" size="0.009202 0.01246 0.01034" pos="0 0 0" quat="0 0.3944 0 0.9189"/>
+                              <site name="m_levator_caudae_brevis_R2_8" class="connector" group="4" pos="0.004852 -0.003723 0.00558"/>
+                              <site name="m_depressor_caudae_brevis_R2_8" class="connector" group="4" pos="0.003301 -0.004994 -0.005171"/>
+                              <site name="m_depressor_caudae_brevis_L2_8" class="connector" group="4" pos="0.003301 0.004994 -0.005171"/>
+                              <site name="m_levator_caudae_brevis_L2_8" class="connector" group="4" pos="0.004852 0.003723 0.00558"/>
+                            </body>
+                            <joint name="Ca_3_extend" class="caudal_extend" pos="0.01091 0 0.0008425" axis="0 1 0"/>
+                            <geom name="Ca_3_collision" class="collision_primitive" size="0.01121 0.01144 0.01094" pos="0 0 0" quat="0 0.449 0 0.8935"/>
+                          </body>
+                          <joint name="Ca_2_bend" class="caudal_bend" pos="0.01165 0 -3.655e-05" axis="-0.003138 0 -1"/>
+                          <geom name="Ca_2_collision" class="collision_primitive" size="0.01221 0.009222 0.01165" pos="0 0 0" quat="0 0.5116 0 0.8592"/>
+                          <site name="m_depressor_caudae_brevis_L_8" class="connector" group="4" pos="-0.01132 0.01082 -0.003446"/>
+                          <site name="m_depressor_caudae_brevis_R2(2)_8" class="connector" group="4" pos="0.002762 -0.002106 -0.007805"/>
+                          <site name="m_depressor_caudae_brevis_R_8" class="connector" group="4" pos="-0.01132 -0.01082 -0.003446"/>
+                          <site name="m_depressor_caudae_brevis_L2(2)_8" class="connector" group="4" pos="0.002762 0.002106 -0.007805"/>
+                        </body>
+                        <joint name="Ca_1_extend" class="caudal_extend" pos="0.01121 0 -0.002007" axis="0 1 0"/>
+                        <geom name="Ca_1_collision" class="collision_primitive" size="0.01365 0.006455 0.01139" pos="0 0 0" quat="0 0.4196 0 0.9077"/>
+                        <geom name="Ca_1_wrapping" class="wrapping" size="0.008 0.04"/>
+                        <site name="Ca_1_wrapping_forward" class="wrapping" pos="0 0 -0.05"/>
+                        <site name="Ca_1_wrapping_backward" class="wrapping" pos="0 0 0.05"/>
+                      </body>
+                      <geom name="hip_R_wrapping" class="wrapping" size="0.05 0.04" pos="0 0.05 -0.02"/>
+                      <site name="hip_R_wrapping_forward" class="wrapping" pos="0.08 -0.05 0"/>
+                      <site name="hip_R_wrapping_backward" class="wrapping" pos="-0.04 -0.05 -0.04"/>
+                      <geom name="hip_L_wrapping" class="wrapping" size="0.05 0.04" pos="0 -0.05 -0.02"/>
+                      <site name="hip_L_wrapping_forward" class="wrapping" pos="0.08 0.05 0"/>
+                      <site name="hip_L_wrapping_backward" class="wrapping" pos="-0.04 0.05 -0.04"/>
+                      <site name="m_sartorius_L(2)_0" class="connector" group="4" pos="0.07949 0.03766 0.02952"/>
+                      <site name="m_rectus_femoris_L_0" class="connector" group="4" pos="0.009132 0.03521 0.003745"/>
+                      <site name="m_sartorius_L_0" class="connector" group="4" pos="0.05467 0.03295 0.01285"/>
+                      <site name="m_gluteus_superficialis_major_L_0" class="connector" group="4" pos="0.02964 0.003559 0.04895"/>
+                      <site name="m_pectineus_L_0" class="connector" group="4" pos="-0.003162 0.03126 -0.01831"/>
+                      <site name="m_sartorius_R(2)_0" class="connector" group="4" pos="0.07949 -0.03766 0.02952"/>
+                      <site name="m_rectus_femoris_R_0" class="connector" group="4" pos="0.009132 -0.03521 0.003745"/>
+                      <site name="m_sartorius_R_0" class="connector" group="4" pos="0.05467 -0.03295 0.01285"/>
+                      <site name="m_gluteus_superficialis_major_R_0" class="connector" group="4" pos="0.02964 -0.00356 0.04895"/>
+                      <site name="m_pectineus_R_0" class="connector" group="4" pos="-0.003162 -0.03126 -0.01831"/>
+                      <site name="m_semitendinosus_L_0" class="connector" group="4" pos="-0.07402 0.03113 -0.02161"/>
+                      <site name="m_adductor_magnus_L_0" class="connector" group="4" pos="-0.04916 0.0001215 -0.03756"/>
+                      <site name="m_gracilis_L_0" class="connector" group="4" pos="-0.04875 0.001725 -0.03583"/>
+                      <site name="m_biceps_femoris_L_0" class="connector" group="4" pos="-0.02712 0.03113 0.01806"/>
+                      <site name="m_abductor_cruris_L_0" class="connector" group="4" pos="0.0103 0.005477 0.04012"/>
+                      <site name="m_semimembranosus_L_0" class="connector" group="4" pos="-0.06829 0.02614 -0.02513"/>
+                      <site name="m_semitendinosus_R_0" class="connector" group="4" pos="-0.07402 -0.03113 -0.02161"/>
+                      <site name="m_adductor_magnus_R_0" class="connector" group="4" pos="-0.04916 -0.0001215 -0.03756"/>
+                      <site name="m_gracilis_R_0" class="connector" group="4" pos="-0.04875 -0.001725 -0.03583"/>
+                      <site name="m_biceps_femoris_R_0" class="connector" group="4" pos="-0.02712 -0.03113 0.01806"/>
+                      <site name="m_abductor_cruris_R_0" class="connector" group="4" pos="0.0103 -0.005477 0.04012"/>
+                      <site name="m_semimembranosus_R_0" class="connector" group="4" pos="-0.06829 -0.02614 -0.02513"/>
+                      <site name="m_longissimus_capitis_L_0" class="connector" group="4" pos="0.07594 0.0327 0.03109"/>
+                      <site name="m_longissimus_capitis_R(2)_0" class="connector" group="4" pos="0.07594 -0.0327 0.03109"/>
+                      <site name="m_psoas_minor_L_0" class="connector" group="4" pos="-0.02296 0.03204 -0.01056"/>
+                      <site name="m_obliquus_ext_abdominis_R_0" class="connector" group="4" pos="0.0656 -0.03466 0.0007323"/>
+                      <site name="m_tranversus_abdominis_L_0" class="connector" group="4" pos="0.05004 0.01672 -0.05092"/>
+                      <site name="m_psoas_major_L_0" class="connector" group="4" pos="-0.01412 0.06061 -0.03122"/>
+                      <site name="m_obliquus_ext_abdominis_L_0" class="connector" group="4" pos="0.0656 0.03466 0.0007323"/>
+                      <site name="m_tranversus_abdominis_R_0" class="connector" group="4" pos="0.05004 -0.01672 -0.05092"/>
+                      <site name="m_psoas_major_R_0" class="connector" group="4" pos="-0.01412 -0.06061 -0.03122"/>
+                      <site name="m_psoas_minor_R_0" class="connector" group="4" pos="-0.02296 -0.03204 -0.01056"/>
+                      <site name="m_Ligament_0" class="connector" group="4" pos="0.02622 0 0.05806"/>
+                      <site name="m_levator_caudae_longus_R_0" class="connector" group="4" pos="0.03738 -0.009595 0.05433"/>
+                      <site name="m_levator_caudae_brevis_R2_9" class="connector" group="4" pos="0.02811 -0.004433 0.05"/>
+                      <site name="m_levator_caudae_brevis_R2_10" class="connector" group="4" pos="0.05738 -0.005367 0.0491"/>
+                      <site name="m_depressor_caudae_brevis_R2_9" class="connector" group="4" pos="0.02772 -0.006558 0.03161"/>
+                      <site name="m_depressor_caudae_brevis_L2_9" class="connector" group="4" pos="0.02772 0.006558 0.03161"/>
+                      <site name="m_levator_caudae_brevis_L2_9" class="connector" group="4" pos="0.02811 0.004433 0.05"/>
+                      <site name="m_levator_caudae_brevis_L2_10" class="connector" group="4" pos="0.05738 0.005367 0.0491"/>
+                      <site name="m_depressor_caudae_brevis_L_9" class="connector" group="4" pos="0.03908 0.02389 0.03948"/>
+                      <site name="m_depressor_caudae_brevis_R2(2)_9" class="connector" group="4" pos="0.02515 -0.002525 0.03507"/>
+                      <site name="m_depressor_caudae_brevis_R_9" class="connector" group="4" pos="0.03908 -0.02389 0.03948"/>
+                      <site name="m_levator_caudae_longus_L_0" class="connector" group="4" pos="0.03738 0.009595 0.05433"/>
+                      <site name="m_depressor_caudae_brevis_L2(2)_9" class="connector" group="4" pos="0.02515 0.002525 0.03507"/>
+                    </body>
+                    <geom name="L_7_wrapping" class="wrapping" size="0.009 0.04"/>
+                    <site name="L_7_wrapping_forward" class="wrapping" pos="0 0 0.1"/>
+                    <site name="L_7_wrapping_backward" class="wrapping" pos="0 0 -0.1"/>
+                    <site name="m_psoas_minor_L_1" class="connector" group="4" pos="0.007282 0.01787 -0.02743"/>
+                    <site name="m_psoas_major_L_1" class="connector" group="4" pos="0.004684 0.01798 -0.02034"/>
+                    <site name="m_psoas_major_R_1" class="connector" group="4" pos="0.004684 -0.01798 -0.02034"/>
+                    <site name="m_psoas_minor_R_1" class="connector" group="4" pos="0.007282 -0.01787 -0.02743"/>
+                    <site name="m_depressor_caudae_brevis_R2_10" class="connector" group="4" pos="-0.003931 -0.003384 -0.01165"/>
+                    <site name="m_depressor_caudae_brevis_L2_10" class="connector" group="4" pos="-0.003931 0.003384 -0.01165"/>
+                  </body>
+                  <joint name="L_6_twist" class="lumbar_twist" axis="1 0 0"/>
+                  <geom name="L_6_wrapping" class="wrapping" size="0.009 0.04"/>
+                  <site name="L_6_wrapping_forward" class="wrapping" pos="0 0 0.1"/>
+                  <site name="L_6_wrapping_backward" class="wrapping" pos="0 0 -0.1"/>
+                  <site name="m_longissimus_capitis_L_1" class="connector" group="4" pos="0.02 0.02945 -0.01285"/>
+                  <site name="m_longissimus_capitis_R(2)_1" class="connector" group="4" pos="0.02 -0.02945 -0.01285"/>
+                  <site name="m_obliquus_ext_abdominis_R_1" class="connector" group="4" pos="0.007541 -0.04749 -0.05558"/>
+                  <site name="m_tranversus_abdominis_L_1" class="connector" group="4" pos="0.002206 0.03256 -0.06121"/>
+                  <site name="m_obliquus_ext_abdominis_L_1" class="connector" group="4" pos="0.007541 0.04749 -0.05558"/>
+                  <site name="m_tranversus_abdominis_R_1" class="connector" group="4" pos="0.002206 -0.03256 -0.06121"/>
+                </body>
+                <joint name="L_5_extend" class="lumbar_extend" axis="0 1 0"/>
+                <joint name="L_5_bend" class="lumbar_bend" axis="0 0 1"/>
+                <geom name="L_5_wrapping" class="wrapping" size="0.009 0.04"/>
+                <site name="L_5_wrapping_forward" class="wrapping" pos="0 0 0.1"/>
+                <site name="L_5_wrapping_backward" class="wrapping" pos="0 0 -0.1"/>
+                <site name="m_psoas_minor_L_2" class="connector" group="4" pos="0.008167 0.01403 -0.02087"/>
+                <site name="m_psoas_major_L_2" class="connector" group="4" pos="0.005191 0.01368 -0.01474"/>
+                <site name="m_psoas_major_R_2" class="connector" group="4" pos="0.005191 -0.01368 -0.01474"/>
+                <site name="m_psoas_minor_R_2" class="connector" group="4" pos="0.008167 -0.01403 -0.02087"/>
+                <site name="m_Ligament_1" class="connector" group="4" pos="0.007335 0 0.02922"/>
+              </body>
+              <joint name="L_4_twist" class="lumbar_twist" axis="1 0 0"/>
+              <geom name="L_4_wrapping" class="wrapping" size="0.009 0.04"/>
+              <site name="L_4_wrapping_forward" class="wrapping" pos="0 0 0.1"/>
+              <site name="L_4_wrapping_backward" class="wrapping" pos="0 0 -0.1"/>
+              <site name="m_longissimus_capitis_L_2" class="connector" group="4" pos="0.02278 0.03377 -0.01314"/>
+              <site name="m_longissimus_capitis_R(2)_2" class="connector" group="4" pos="0.02278 -0.03377 -0.01314"/>
+            </body>
+            <joint name="L_3_extend" class="lumbar_extend" axis="0 1 0"/>
+            <joint name="L_3_bend" class="lumbar_bend" axis="0 0 1"/>
+            <geom name="L_3_wrapping" class="wrapping" size="0.009 0.04"/>
+            <site name="L_3_wrapping_forward" class="wrapping" pos="0 0 0.1"/>
+            <site name="L_3_wrapping_backward" class="wrapping" pos="0 0 -0.1"/>
+            <site name="m_psoas_minor_L_3" class="connector" group="4" pos="0.01019 0.01191 -0.01876"/>
+            <site name="m_psoas_minor_R_3" class="connector" group="4" pos="0.01019 -0.01191 -0.01876"/>
+          </body>
+          <joint name="L_2_twist" class="lumbar_twist" axis="1 0 0"/>
+          <geom name="L_2_wrapping" class="wrapping" size="0.009 0.04"/>
+          <site name="L_2_wrapping_forward" class="wrapping" pos="0 0 0.1"/>
+          <site name="L_2_wrapping_backward" class="wrapping" pos="0 0 -0.1"/>
+          <site name="m_psoas_major_L_3" class="connector" group="4" pos="-0.007232 0.01229 -0.01512"/>
+          <site name="m_psoas_major_R_3" class="connector" group="4" pos="-0.007232 -0.01229 -0.01512"/>
+        </body>
+        <joint name="L_1_extend" class="lumbar_extend" axis="0 1 0"/>
+        <joint name="L_1_bend" class="lumbar_bend" axis="0 0 1"/>
+        <geom name="L_1_wrapping" class="wrapping" size="0.009 0.04"/>
+        <site name="L_1_wrapping_forward" class="wrapping" pos="0 0 0.1"/>
+        <site name="L_1_wrapping_backward" class="wrapping" pos="0 0 -0.1"/>
+        <site name="m_longissimus_thoracis_L_0" class="connector" group="4" pos="-0.0004938 0.008715 0.003625"/>
+        <site name="m_longissimus_thoracis_R_0" class="connector" group="4" pos="-0.0004938 -0.008715 0.003625"/>
+      </body>
+      <body name="C_7" pos="0.1458 0 0.08353">
+        <geom name="C_7" class="light_bone" pos="-0.1837 0 -0.5021" mesh="C_7"/>
+        <geom name="C_7_collision" class="nonself_collision_primitive" type="sphere" size="0.07"/>
+        <body name="C_6" pos="0.01819 0 0.009342">
+          <geom name="C_6" class="light_bone" pos="-0.2019 0 -0.5115" mesh="C_6"/>
+          <geom name="C_6_collision" class="nonself_collision_primitive" type="sphere" size="0.064"/>
+          <body name="C_5" pos="0.01335 0 0.02553">
+            <geom name="C_5" class="light_bone" pos="-0.2153 0 -0.537" mesh="C_5"/>
+            <geom name="C_5_collision" class="nonself_collision_primitive" type="sphere" size="0.058"/>
+            <body name="C_4" pos="0.01092 0 0.03448">
+              <geom name="C_4" class="light_bone" pos="-0.2262 0 -0.5715" mesh="C_4"/>
+              <geom name="C_4_collision" class="nonself_collision_primitive" type="sphere" size="0.052"/>
+              <body name="C_3" pos="0.006257 0 0.0361">
+                <geom name="C_3" class="bone" pos="-0.2324 0 -0.6076" mesh="C_3"/>
+                <geom name="C_3_collision" class="nonself_collision_primitive" type="sphere" size="0.046"/>
+                <body name="C_2" pos="0.007591 0 0.03699">
+                  <geom name="C_2" class="bone" pos="-0.24 0 -0.6446" mesh="C_2"/>
+                  <geom name="C_2_collision" class="nonself_collision_primitive" type="sphere" size="0.04"/>
+                  <body name="C_1" pos="0.02309 0 0.03212">
+                    <geom name="C_1" class="bone" pos="-0.2631 0 -0.6767" mesh="C_1"/>
+                    <geom name="C_1_collision" class="nonself_collision_primitive" type="sphere" size="0.034"/>
+                    <joint name="C_1_extend" class="cervical_extend" pos="-0.01147 0 -0.01595" axis="0 1 0" range="-16.4 12.9"/>
+                    <joint name="C_1_bend" class="cervical_bend" pos="-0.01147 0 -0.01595" axis="-0.8119 0 0.5837" range="-26 26"/>
+                    <body name="skull" pos="0.07792 0 0.01783">
+                      <geom name="eye_L" class="visible_bone" rgba="1 1 1 1" pos="-0.341 0 -0.6945" mesh="eye_L"/>
+                      <geom name="eye_R" class="visible_bone" rgba="1 1 1 1" pos="-0.341 0 -0.6945" mesh="eye_R"/>
+                      <geom name="iris_L" class="visible_bone" type="ellipsoid" size="0.003 0.007 0.007" rgba="0.45 0.45 0.225 0.4" pos="0.023 0.027 0.01" euler="0 0 20"/>
+                      <geom name="pupil_L" class="visible_bone" type="sphere" size="0.003 0 0" rgba="0 0 0 1" pos="0.0215 0.0275 0.01"/>
+                      <geom name="iris_R" class="visible_bone" type="ellipsoid" size="0.003 0.007 0.007" rgba="0.45 0.45 0.225 0.4" pos="0.023 -0.027 0.01" euler="0 0 -20"/>
+                      <geom name="pupil_R" class="visible_bone" type="sphere" size="0.003 0 0" rgba="0 0 0 1" pos="0.0215 -0.0275 0.01"/>
+                      <geom name="skull0_collision" class="collision_primitive" type="ellipsoid" size="0.06 0.06 0.04" pos="-0.02 0 0.01" euler="0 10 0"/>
+                      <geom name="skull1_collision" class="collision_primitive" type="capsule" size="0.015 0.04 0.015" pos="0.06 0 -0.01" euler="0 110 0"/>
+                      <geom name="skull2_collision" class="collision_primitive" type="box" size="0.03 0.028 0.008" pos="0.02 0 -0.03"/>
+                      <geom name="skull3_collision" class="collision_primitive" type="box" size="0.02 0.018 0.006" pos="0.07 0 -0.03"/>
+                      <geom name="skull4_collision" class="collision_primitive" type="box" size="0.005 0.015 0.004" pos="0.095 0 -0.03"/>
+                      <joint name="atlas" class="atlas" pos="-0.06246 0 0"/>
+                      <site name="head" class="sensor" type="box" size="0.01 0.01 0.01"/>
+                      <site name="upper_bite" class="sensor" size="0.005" pos="0.065 0 -0.07"/>
+                      <body name="jaw" pos="0.008292 0 -0.05824">
+                        <geom name="jaw0_collision" class="collision_primitive" type="box" size="0.03 0.028 0.008" pos="-0.03 0 0.01" euler="0 55 0"/>
+                        <geom name="jaw1_collision" class="collision_primitive" type="box" size="0.02 0.022 0.005" pos="0 0 -0.012" euler="0 30 0"/>
+                        <geom name="jaw2_collision" class="collision_primitive" type="box" size="0.02 0.018 0.005" pos="0.03 0 -0.028" euler="0 25 0"/>
+                        <geom name="jaw3_collision" class="collision_primitive" type="box" size="0.015 0.013 0.003" pos="0.052 0 -0.035" euler="0 15 0"/>
+                        <joint name="mandible" class="mandible" pos="-0.043 0 0.05" axis="0 1 0"/>
+                        <site name="lower_bite" class="sensor" size="0.005" pos="0.063 0 0.005"/>
+                        <geom name="Premolars_Bottom_R_3_collision" class="tooth_primitive" type="ellipsoid" size="0.002063 0.005281 0.005983" pos="0.02897 -0.01613 -0.0198" quat="0.5464 0.3402 0.4081 0.6475"/>
+                        <geom name="Premolars_Bottom_R_2_collision" class="tooth_primitive" type="ellipsoid" size="0.002052 0.005183 0.005716" pos="0.03953 -0.01408 -0.02416" quat="0.5056 0.3942 0.4748 0.6029"/>
+                        <geom name="Molars_Bottom_3L_collision" class="tooth_primitive" type="ellipsoid" size="0.001801 0.002691 0.00272" pos="-0.01458 0.021 0.007374" quat="0.5671 0.5671 0.4224 0.4224"/>
+                        <geom name="Premolars_Bottom_R_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001284 0.002038 0.004378" pos="0.04749 -0.0128 -0.02757" quat="0.6503 0.215 0.08379 0.7238"/>
+                        <geom name="Premolars_Bottom_R_4_collision" class="tooth_primitive" type="ellipsoid" size="0.002223 0.006001 0.006939" pos="0.01772 -0.01819 -0.015" quat="0.5309 0.3756 0.4387 0.6201"/>
+                        <geom name="Premolars_Bottom_L_4_collision" class="tooth_primitive" type="ellipsoid" size="0.002223 0.006001 0.006939" pos="0.01772 0.01819 -0.015" quat="0.6201 0.4387 0.3756 0.5309"/>
+                        <geom name="Premolars_Bottom_L_2_collision" class="tooth_primitive" type="ellipsoid" size="0.002052 0.005183 0.005716" pos="0.03953 0.01408 -0.02416" quat="0.6029 0.4748 0.3942 0.5056"/>
+                        <geom name="Premolars_Bottom_L_3_collision" class="tooth_primitive" type="ellipsoid" size="0.002063 0.005281 0.005983" pos="0.02897 0.01613 -0.0198" quat="0.6475 0.4081 0.3402 0.5464"/>
+                        <geom name="Canine_Bottom_R_collision" class="tooth_primitive" type="ellipsoid" size="0.002328 0.002986 0.01131" pos="0.06044 -0.01277 -0.03027" quat="0.6661 0.3918 0.2004 0.6022"/>
+                        <geom name="Premolars_Bottom_L_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001284 0.002038 0.004378" pos="0.04749 0.0128 -0.02757" quat="0.7238 0.08379 0.215 0.6503"/>
+                        <geom name="Incisors_Bottom_L_3_collision" class="tooth_primitive" type="ellipsoid" size="0.001485 0.001894 0.007572" pos="0.06678 0.009306 -0.0316" quat="0.7925 0.07161 0.4413 0.4149"/>
+                        <geom name="Incisors_Bottom_L_2_collision" class="tooth_primitive" type="ellipsoid" size="0.001254 0.001718 0.007304" pos="0.06876 0.00565 -0.03294" quat="-0.2463 0.4941 -0.04671 0.8325"/>
+                        <geom name="Incisors_Bottom_L_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001279 0.001692 0.007546" pos="0.06955 0.002027 -0.03336" quat="-0.002788 0.5069 0.004741 0.862"/>
+                        <geom name="Molars_Bottom_R_1_collision" class="tooth_primitive" type="ellipsoid" size="0.00288 0.008714 0.01042" pos="0.002785 -0.01936 -0.007411" quat="0.4388 0.5295 0.5875 0.4265"/>
+                        <geom name="Canine_Bottom_L_collision" class="tooth_primitive" type="ellipsoid" size="0.002328 0.002986 0.01131" pos="0.06044 0.01277 -0.03027" quat="0.6022 0.2004 0.3918 0.6661"/>
+                        <geom name="Molars_Bottom_R_2_collision" class="tooth_primitive" type="ellipsoid" size="0.00265 0.003984 0.004844" pos="-0.01055 -0.0204 0.0009622" quat="0.5656 0.2739 0.3385 0.7003"/>
+                        <geom name="Molars_Bottom_R_3_collision" class="tooth_primitive" type="ellipsoid" size="0.001801 0.002691 0.00272" pos="-0.01458 -0.021 0.007374" quat="0.4224 0.4224 0.5671 0.5671"/>
+                        <geom name="Molars_Bottom_L_1_collision" class="tooth_primitive" type="ellipsoid" size="0.00288 0.008714 0.01042" pos="0.002785 0.01936 -0.007411" quat="0.4265 0.5875 0.5295 0.4388"/>
+                        <geom name="Molars_Bottom_L_2_collision" class="tooth_primitive" type="ellipsoid" size="0.00265 0.003984 0.004844" pos="-0.01055 0.0204 0.0009622" quat="0.7003 0.3385 0.2739 0.5656"/>
+                        <geom name="Incisors_Bottom_R_2_collision" class="tooth_primitive" type="ellipsoid" size="0.001254 0.001718 0.007304" pos="0.06876 -0.00565 -0.03294" quat="0.2463 0.4941 0.04671 0.8325"/>
+                        <geom name="Incisors_Bottom_R_3_collision" class="tooth_primitive" type="ellipsoid" size="0.001485 0.001894 0.007572" pos="0.06678 -0.009306 -0.0316" quat="0.4149 0.4413 0.07161 0.7925"/>
+                        <geom name="Incisors_Bottom_R_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001279 0.001692 0.007546" pos="0.06955 -0.002027 -0.03336" quat="0.002788 0.5069 -0.004741 0.862"/>
+                        <inertial pos="-0.001402 0 -0.002262" quat="0 0.8897 0 0.4566" mass="0.08282" diaginertia="0.0001313 0.0001146 3.607e-05"/>
+                        <geom name="Jaw" class="bone" pos="-0.356 0 -0.6325" mesh="Jaw"/>
+                        <site name="m_sternohyroideus_L_0" class="connector" group="4" pos="-0.03954 0.004378 -0.004843"/>
+                        <site name="m_sternothyroideus_R_0" class="connector" group="4" pos="-0.05193 -0.01212 0.00671"/>
+                        <site name="m_sternohyroideus_R_0" class="connector" group="4" pos="-0.03954 -0.004378 -0.004843"/>
+                        <site name="m_sternothyroideus_L_0" class="connector" group="4" pos="-0.05193 0.01212 0.00671"/>
+                      </body>
+                      <geom name="Molars_Top_1L_collision" class="tooth_primitive" type="ellipsoid" size="0.004616 0.006227 0.00653" pos="0.0197 0.02796 -0.04033" quat="-0.1696 0.7939 0.228 0.5375"/>
+                      <geom name="Canine_Top_L_collision" class="tooth_primitive" type="ellipsoid" size="0.00255 0.004356 0.01479" pos="0.08408 0.01464 -0.03788" quat="0.7247 -0.0126 -0.145 0.6735"/>
+                      <geom name="Premolars_Top_L_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001716 0.002936 0.005556" pos="0.07323 0.01581 -0.03909" quat="0.7276 -0.01398 -0.1308 0.6732"/>
+                      <geom name="Premolars_Top_L_2_collision" class="tooth_primitive" type="ellipsoid" size="0.002204 0.005472 0.006079" pos="0.0633 0.01715 -0.03957" quat="0.4065 0.6855 0.529 0.2914"/>
+                      <geom name="Premolars_Top_L_3_collision" class="tooth_primitive" type="ellipsoid" size="0.002255 0.005977 0.006518" pos="0.05089 0.02105 -0.03949" quat="0.3489 0.7868 0.4704 0.1946"/>
+                      <geom name="Canine_Top_R_collision" class="tooth_primitive" type="ellipsoid" size="0.00255 0.004356 0.01479" pos="0.08408 -0.01464 -0.03788" quat="0.6735 -0.145 -0.0126 0.7247"/>
+                      <geom name="Molars_Top_2L_collision" class="tooth_primitive" type="ellipsoid" size="0.003681 0.004128 0.00467" pos="0.01075 0.0263 -0.03575" quat="0.7973 0.5314 0.2697 0.09594"/>
+                      <geom name="Incisors_Top_R_2_collision" class="tooth_primitive" type="ellipsoid" size="0.002026 0.002206 0.005704" pos="0.1001 -0.007781 -0.03812" quat="0.9774 -0.1136 -0.1769 -0.02056"/>
+                      <geom name="Molars_Top_R_2_collision" class="tooth_primitive" type="ellipsoid" size="0.003681 0.004128 0.00467" pos="0.01075 -0.0263 -0.03575" quat="0.5314 0.7973 -0.09594 -0.2697"/>
+                      <geom name="Incisors_Top_R_3_collision" class="tooth_primitive" type="ellipsoid" size="0.002374 0.002715 0.007059" pos="0.09564 -0.01222 -0.03872" quat="0.9289 -0.1742 0.005002 0.3266"/>
+                      <geom name="Incisors_Top_R_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001775 0.002136 0.00544" pos="0.1016 -0.002792 -0.03825" quat="0.9779 -0.02384 -0.1986 0.06071"/>
+                      <geom name="Premolars_Top_L_4_collision" class="tooth_primitive" type="ellipsoid" size="0.00362 0.007657 0.01008" pos="0.03536 0.02589 -0.0405" quat="0.5461 0.5802 0.4361 0.4182"/>
+                      <geom name="Molars_Top_R_1_collision" class="tooth_primitive" type="ellipsoid" size="0.004616 0.006227 0.00653" pos="0.0197 -0.02796 -0.04033" quat="0.1696 0.7939 -0.228 0.5375"/>
+                      <geom name="Incisors_Top_L_3_collision" class="tooth_primitive" type="ellipsoid" size="0.002374 0.002715 0.007059" pos="0.09564 0.01222 -0.03872" quat="0.9289 0.1742 0.005002 -0.3266"/>
+                      <geom name="Premolars_Top_R_7_collision" class="tooth_primitive" type="ellipsoid" size="0.00362 0.007657 0.01008" pos="0.03536 -0.02589 -0.0405" quat="0.4182 0.4361 0.5802 0.5461"/>
+                      <geom name="Incisors_Top_L_2_collision" class="tooth_primitive" type="ellipsoid" size="0.002026 0.002206 0.005704" pos="0.1001 0.007781 -0.03812" quat="0.9774 0.1136 -0.1769 0.02056"/>
+                      <geom name="Incisors_Top_L_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001775 0.002136 0.00544" pos="0.1016 0.002792 -0.03825" quat="0.9779 0.02384 -0.1986 -0.06071"/>
+                      <geom name="Premolars_Top_R_1_collision" class="tooth_primitive" type="ellipsoid" size="0.001716 0.002936 0.005556" pos="0.07323 -0.01581 -0.03909" quat="0.6732 -0.1308 -0.01398 0.7276"/>
+                      <geom name="Premolars_Top_R_3_collision" class="tooth_primitive" type="ellipsoid" size="0.002255 0.005977 0.006518" pos="0.05089 -0.02105 -0.03949" quat="0.1946 0.4704 0.7868 0.3489"/>
+                      <geom name="Premolars_Top_R_2_collision" class="tooth_primitive" type="ellipsoid" size="0.002204 0.005472 0.006079" pos="0.0633 -0.01715 -0.03957" quat="0.2914 0.529 0.6855 0.4065"/>
+                      <inertial pos="-0.001013 0 0.001405" quat="0 0.8203 0 0.572" mass="0.4354" diaginertia="0.0008834 0.0007907 0.0003248"/>
+                      <geom name="MergedSkull" class="bone" pos="-0.3477 0 -0.691" mesh="MergedSkull"/>
+                      <site name="m_longus_capitis_L_0" class="connector" group="4" pos="-0.05776 0.0232 -0.0003577"/>
+                      <site name="m_splenius_L_0" class="connector" group="4" pos="-0.06843 0.001554 0.03091"/>
+                      <site name="m_sternocephalicus_L_0" class="connector" group="4" pos="-0.05768 0.02371 -0.001548"/>
+                      <site name="m_longissimus_capitis_L(2)_0" class="connector" group="4" pos="-0.05739 0.01989 0.01292"/>
+                      <site name="m_longissimus_capitis_R_0" class="connector" group="4" pos="-0.05739 -0.01989 0.01292"/>
+                      <site name="m_sternocephalicus_R_0" class="connector" group="4" pos="-0.05768 -0.02371 -0.001548"/>
+                      <site name="m_longus_capitis_R_0" class="connector" group="4" pos="-0.05776 -0.0232 -0.0003577"/>
+                      <site name="m_splenius_R_0" class="connector" group="4" pos="-0.06843 -0.001554 0.03091"/>
+                    </body>
+                    <site name="m_omotransversarius_L_0" class="connector" group="4" pos="-0.001601 0.02884 -0.02981"/>
+                    <site name="m_omotransversarius_R_0" class="connector" group="4" pos="-0.001601 -0.02884 -0.02981"/>
+                  </body>
+                  <joint name="C_2_twist" class="cervical_twist" pos="-0.004829 0 -0.02353" axis="0.201 0 0.9796" range="-10.1 10.1"/>
+                  <geom name="C_2_wrapping" class="wrapping" size="0.015 0.04" pos="0.02 0 0.03"/>
+                  <site name="C_2_wrapping_forward" class="wrapping" pos="0.05 0 0.02"/>
+                  <site name="C_2_wrapping_backward" class="wrapping" pos="-0.005 0 0.04"/>
+                  <site name="m_splenius_L_1" class="connector" group="4" pos="-0.02999 0.009945 -0.01596"/>
+                  <site name="m_rhomboideus_R_0" class="connector" group="4" pos="-0.05562 -0.003826 -0.03241"/>
+                  <site name="m_splenius_R_1" class="connector" group="4" pos="-0.02999 -0.009945 -0.01596"/>
+                  <site name="m_rhomboideus_L_0" class="connector" group="4" pos="-0.05562 0.003826 -0.03241"/>
+                </body>
+                <joint name="C_3_extend" class="cervical_extend" pos="-0.002825 0 -0.0163" axis="0 1 0" range="-13.4 18.3"/>
+                <joint name="C_3_bend" class="cervical_bend" pos="-0.002825 0 -0.0163" axis="-0.9853 0 0.1708" range="-32 32"/>
+                <site name="m_Ligament_4" class="connector" group="4" pos="-0.03819 0 0.001849"/>
+                <site name="m_longus_capitis_L_1" class="connector" group="4" pos="0.0005797 0.01335 -0.01366"/>
+                <site name="m_longissimus_cervicis_R_0" class="connector" group="4" pos="0.00925 -0.0148 -0.005985"/>
+                <site name="m_longissimus_capitis_L(2)_1" class="connector" group="4" pos="-0.005366 0.01485 0.0005158"/>
+                <site name="m_thoracis_serratus_ventr_R_0" class="connector" group="4" pos="0.007336 -0.0106 -0.005762"/>
+                <site name="m_longissimus_capitis_R_1" class="connector" group="4" pos="-0.005366 -0.01485 0.0005158"/>
+                <site name="m_thoracis_serratus_ventr_L_0" class="connector" group="4" pos="0.007336 0.0106 -0.005762"/>
+                <site name="m_longus_capitis_R_1" class="connector" group="4" pos="0.0005797 -0.01335 -0.01366"/>
+                <site name="m_longissimus_cervicis_L_0" class="connector" group="4" pos="0.00925 0.0148 -0.005985"/>
+              </body>
+              <joint name="C_4_twist" class="cervical_twist" pos="-0.005062 0 -0.01598" axis="0.3019 0 0.9533" range="-33 33"/>
+              <site name="m_sternohyroideus_L_1" class="connector" group="4" pos="0.03496 0.008087 -0.04785"/>
+              <site name="m_sternothyroideus_R_1" class="connector" group="4" pos="0.03095 -0.008121 -0.0363"/>
+              <site name="m_sternocephalicus_L_1" class="connector" group="4" pos="0.04724 0.02166 0.001645"/>
+              <site name="m_sternocephalicus_R_1" class="connector" group="4" pos="0.04724 -0.02166 0.001645"/>
+              <site name="m_sternohyroideus_R_1" class="connector" group="4" pos="0.03496 -0.008087 -0.04785"/>
+              <site name="m_sternothyroideus_L_1" class="connector" group="4" pos="0.03095 0.008121 -0.0363"/>
+            </body>
+            <joint name="C_5_extend" class="cervical_extend" pos="-0.007455 0 -0.01425" axis="0 1 0" range="-11.9 11.2"/>
+            <joint name="C_5_bend" class="cervical_bend" pos="-0.007455 0 -0.01425" axis="-0.8861 0 0.4636" range="-27.9 27.9"/>
+            <site name="m_omotransversarius_L_1" class="connector" group="4" pos="0.0003563 0.04115 0.005245"/>
+            <site name="m_omotransversarius_R_1" class="connector" group="4" pos="0.0003563 -0.04115 0.005245"/>
+          </body>
+          <joint name="C_6_twist" class="cervical_twist" pos="-0.0139 0 -0.007136" axis="0.8896 0 0.4568" range="-42.4 42.4"/>
+          <site name="m_longissimus_cervicis_R_2" class="connector" group="4" pos="0.006471 -0.01504 -0.01661"/>
+          <site name="m_sternocephalicus_L_2" class="connector" group="4" pos="0.04606 0.01099 -0.04874"/>
+          <site name="m_sternocephalicus_R_2" class="connector" group="4" pos="0.04606 -0.01099 -0.04874"/>
+          <site name="m_longissimus_cervicis_L_2" class="connector" group="4" pos="0.006471 0.01504 -0.01661"/>
+        </body>
+        <joint name="C_7_extend" class="cervical_extend" pos="-0.01571 0 -0.001623" axis="0 1 0" range="-14.2 35.4"/>
+        <joint name="C_7_bend" class="cervical_bend" pos="-0.01571 0 -0.001623" axis="-0.1027 0 0.9947" range="-23.5 23.5"/>
+        <geom name="C_7_wrapping" class="wrapping" size="0.03 0.07"/>
+        <site name="m_longissimus_thoracis_L_3" class="connector" group="4" pos="-0.009793 0.01162 0.005692"/>
+        <site name="m_longissimus_capitis_L_6" class="connector" group="4" pos="0.003301 0.00978 -0.006433"/>
+        <site name="m_longissimus_thoracis_R_3" class="connector" group="4" pos="-0.009793 -0.01162 0.005692"/>
+        <site name="m_longissimus_capitis_R(2)_6" class="connector" group="4" pos="0.003301 -0.00978 -0.006433"/>
+      </body>
+      <body name="scapula_L" pos="0.08 0.02 0.14">
+        <geom name="Scapula_L" class="bone" pos="-0.1179 -0.02 -0.5586" mesh="Scapula_L"/>
+        <joint name="scapula_L_supinate" class="scapula_supinate" pos="-0.03 -0.02 0" axis="0 0 1"/>
+        <joint name="scapula_L_abduct" class="scapula_abduct" pos="0 -0.05 -0.07" axis="1 0 0"/>
+        <joint name="scapula_L_extend" class="scapula_extend" pos="0 0 0" axis="0.3 1 0"/>
+        <body name="upper_arm_L" pos="0.075 0.033 -0.13">
+          <geom name="humerus_L" class="bone" pos="-0.1929 -0.053 -0.4286" mesh="humerus_L"/>
+          <joint name="shoulder_L_supinate" class="shoulder_supinate" axis="-1 0 1"/>
+          <joint name="shoulder_L_extend" class="shoulder_extend" axis="0 1 0"/>
+          <body name="lower_arm_L" pos="-0.05 0.015 -0.145">
+            <geom name="Carpal_ulnar_L" class="bone" pos="-0.1429 -0.068 -0.2836" mesh="Carpal_ulnar_L"/>
+            <geom name="Radius_L" class="bone" pos="-0.1429 -0.068 -0.2836" mesh="Radius_L"/>
+            <geom name="Carpal_accessory_L" class="bone" pos="-0.1429 -0.068 -0.2836" mesh="Carpal_accessory_L"/>
+            <geom name="Ulna_L" class="bone" pos="-0.1429 -0.068 -0.2836" mesh="Ulna_L"/>
+            <joint name="elbow_L" class="elbow" axis="0 1 0.2"/>
+            <body name="hand_anchor_L" pos="0.003 -0.015 -0.19">
+              <geom name="hand_anchor_L" class="foot_primitive" type="box" contype="0" conaffinity="0" size="0.005 0.005 0.005"/>
+              <site name="hand_anchor_L" class="sensor"/>
+              <body name="hand_L">
+                <geom name="Carpal_I_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_I_L"/>
+                <geom name="Os_metacarpale_I_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_I_L"/>
+                <geom name="Os_metacarpale_V_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_V_L"/>
+                <geom name="Carpal_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_L"/>
+                <geom name="Carpal_Sesamoid_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_Sesamoid_L"/>
+                <geom name="Carpal_III_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_III_L"/>
+                <geom name="Phalanx_distalis_digiti_I_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Phalanx_distalis_digiti_I_L"/>
+                <geom name="Os_metacarpale_V_L.001" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_V_L.001"/>
+                <geom name="Carpal_II_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_II_L"/>
+                <geom name="Carpal_IV_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Carpal_IV_L"/>
+                <geom name="Os_metacarpale_III_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_III_L"/>
+                <geom name="Os_metacarpale_IV_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_IV_L"/>
+                <geom name="Os_metacarpale_II_L" class="bone" pos="-0.1459 -0.053 -0.09359" mesh="Os_metacarpale_II_L"/>
+                <joint name="wrist_L" class="wrist" axis="0 -1 0"/>
+                <geom name="hand_L_collision" class="collision_primitive" type="box" size="0.03 0.016 0.012" pos="0.01 0 -0.04" euler="0 65 0"/>
+                <body name="finger_L" pos="0.02 0 -0.06">
+                  <geom name="Phalanx_media_digiti_II_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_media_digiti_II_L"/>
+                  <geom name="Phalanx_media_digiti_III_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_media_digiti_III_L"/>
+                  <geom name="Phalanx_media_digiti_IV_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_media_digiti_IV_L"/>
+                  <geom name="Phalanxpmxinutlis_digiti_V_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_V_L"/>
+                  <geom name="Phalanx_distalis_digiti_III_L" class="visible_bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_distalis_digiti_III_L"/>
+                  <geom name="Phalanx_distalis_digiti_V_L" class="visible_bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_distalis_digiti_V_L"/>
+                  <geom name="Phalanx_media_digiti_V_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_media_digiti_V_L"/>
+                  <geom name="Phalanxpmxinutlis_digiti_IV_L_" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_IV_L_"/>
+                  <geom name="Phalanx_distalis_digiti_II_L" class="visible_bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_distalis_digiti_II_L"/>
+                  <geom name="Phalanx_distalis_digiti_IV_L" class="visible_bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanx_distalis_digiti_IV_L"/>
+                  <geom name="Phalanxpmxinutlis_digiti_III_L_" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_III_L_"/>
+                  <geom name="Phalanxpmxinutlis_digiti_II_L" class="bone" pos="-0.1659 -0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_II_L"/>
+                  <joint name="finger_L" class="finger" axis="0 1 0.2"/>
+                  <geom name="finger_L0_collision" class="foot_primitive" size="0.018 0.012" pos="0.012 0 -0.012" euler="90 0 0"/>
+                  <geom name="finger_L1_collision" class="foot_primitive" size="0.01 0.015" pos="0.032 0 -0.02" euler="90 0 0"/>
+                  <geom name="finger_L2_collision" class="foot_primitive" size="0.008 0.01" pos="0.042 0 -0.022" euler="90 0 0"/>
+                  <site name="palm_L" class="sensor" type="box" size="0.028 0.03 0.007" pos="0.02 0 -0.024"/>
+                  <site name="m_extensor_digitorum_lat_L_4" class="connector" group="4" pos="0.02501 0.02508 -0.009181"/>
+                  <site name="m_extensor_digitorum_communis_L_4" class="connector" group="4" pos="0.0392 0.004858 -0.01281"/>
+                  <site name="m_extensor_digitorum_communis_L_5" class="connector" group="4" pos="0.04443 0.005201 -0.02301"/>
+                  <site name="m_flexor_digitorum_profundus_L_3" class="connector" group="4" pos="0.02979 0.003814 -0.02043"/>
+                  <site name="m_flexor_digitorum_profundus_L_4" class="connector" group="4" pos="0.03947 0.004513 -0.03065"/>
+                </body>
+                <geom name="finger_L_wrapping" class="wrapping" size="0.015 0.05" pos="0.01 0 -0.05"/>
+                <site name="finger_L_wrapping_forward" class="wrapping" pos="0.05 0 -0.06"/>
+                <site name="finger_L_wrapping_backward" class="wrapping" pos="-0.05 0 -0.06"/>
+                <site name="m_extensor_digitorum_lat_L_3" class="connector" group="4" pos="0.01188 0.01059 -0.02707"/>
+                <site name="m_extensor_capri_ulnaris_L_3" class="connector" group="4" pos="-0.001904 0.01329 -0.02038"/>
+                <site name="m_extensor_digitorum_communis_L_3" class="connector" group="4" pos="0.01472 0.001462 -0.02182"/>
+                <site name="m_abductor_pollicis_longus_L_2" class="connector" group="4" pos="0.001988 -0.01497 -0.0179"/>
+                <site name="m_extensor_capri_radialis_L_3" class="connector" group="4" pos="0.009963 -0.008269 -0.008183"/>
+                <site name="m_flexor_capri_radialis_L_3" class="connector" group="4" pos="0.01149 -0.001717 -0.02966"/>
+                <site name="m_flexor_digitorum_profundus_L_2" class="connector" group="4" pos="-0.004043 0.000143 -0.01122"/>
+              </body>
+              <geom name="wrist_L_wrapping" class="wrapping" size="0.011 0.05" pos="0 0 0.012"/>
+            </body>
+            <geom name="Radius_L_collision" class="collision_primitive" size="0.017 0.09" pos="0.0008281 -0.006968 -0.1114" quat="0.9802 -0.05682 0.01088 0.1893"/>
+            <geom name="Ulna_L_collision" class="collision_primitive" size="0.015 0.06" pos="-0.00939 -0.0004415 -0.05501" quat="0.6993 -0.03224 -0.02206 0.7137"/>
+            <site name="wrist_L_wrapping_forward" class="wrapping" pos="0.015 -0.015 -0.18"/>
+            <site name="wrist_L_wrapping_backward" class="wrapping" pos="-0.05 -0.015 -0.19"/>
+            <site name="m_biceps_brachii_L_3" class="connector" group="4" pos="0.005889 -0.003516 -0.04956"/>
+            <site name="m_extensor_digitorum_lat_L_1" class="connector" group="4" pos="-0.003594 0.01143 -0.0517"/>
+            <site name="m_extensor_digitorum_lat_L_2" class="connector" group="4" pos="0.002593 -0.0004387 -0.1658"/>
+            <site name="m_extensor_capri_ulnaris_L_1" class="connector" group="4" pos="-0.001625 0.00994 -0.05222"/>
+            <site name="m_extensor_capri_ulnaris_L_2" class="connector" group="4" pos="-0.002979 0.001126 -0.1676"/>
+            <site name="m_extensor_digitorum_communis_L_1" class="connector" group="4" pos="0.006722 0.008765 -0.04942"/>
+            <site name="m_extensor_digitorum_communis_L_2" class="connector" group="4" pos="0.01249 -0.01056 -0.1608"/>
+            <site name="m_abductor_pollicis_longus_L_0" class="connector" group="4" pos="-0.0004968 0.005503 -0.04838"/>
+            <site name="m_abductor_pollicis_longus_L_1" class="connector" group="4" pos="0.009838 -0.007731 -0.1654"/>
+            <site name="m_brachialis_L_2" class="connector" group="4" pos="0.01074 -0.009902 -0.02115"/>
+            <site name="m_brachialis_L_3" class="connector" group="4" pos="-0.003323 -0.003222 -0.05118"/>
+            <site name="m_extensor_capri_radialis_L_1" class="connector" group="4" pos="0.01483 0.00724 -0.02039"/>
+            <site name="m_extensor_capri_radialis_L_2" class="connector" group="4" pos="0.01381 -0.01243 -0.1349"/>
+            <site name="m_triceps_brachii_long_L(2)_2" class="connector" group="4" pos="-0.02499 -0.001406 0.009374"/>
+            <site name="m_flexor_capri_radialis_L_1" class="connector" group="4" pos="0.003282 -0.01432 -0.05153"/>
+            <site name="m_flexor_capri_radialis_L_2" class="connector" group="4" pos="0.0007541 -0.02161 -0.167"/>
+            <site name="m_triceps_brachii_medial_L_1" class="connector" group="4" pos="-0.004323 -0.009122 0.02003"/>
+            <site name="m_triceps_brachii_medial_L_2" class="connector" group="4" pos="-0.01878 -0.004421 -0.006034"/>
+            <site name="m_triceps_brachii_long_L_2" class="connector" group="4" pos="-0.01137 -0.002764 0.03266"/>
+            <site name="m_triceps_brachii_long_L_3" class="connector" group="4" pos="-0.02451 -0.001772 0.01072"/>
+            <site name="m_triceps_brachii_lateral_L_2" class="connector" group="4" pos="-0.01969 0.005826 -0.01011"/>
+            <site name="m_tensor_f.antebrachii_L_2" class="connector" group="4" pos="-0.01966 -0.006246 0.01836"/>
+            <site name="m_tensor_f.antebrachii_L_3" class="connector" group="4" pos="-0.02381 -0.005063 0.007893"/>
+            <site name="m_triceps_brachii_accessory_L_1" class="connector" group="4" pos="-0.0104 -0.001453 0.03053"/>
+            <site name="m_triceps_brachii_accessory_L_2" class="connector" group="4" pos="-0.02188 -0.002415 0.01122"/>
+            <site name="m_flexor_digitorum_profundus_L_0" class="connector" group="4" pos="-0.01525 -0.00369 -0.00459"/>
+            <site name="m_flexor_digitorum_profundus_L_1" class="connector" group="4" pos="-0.006663 -0.01088 -0.1226"/>
+          </body>
+          <geom name="humerus_L_collision" class="collision_primitive" size="0.02 0.08" pos="-0.01554 0.00985 -0.08041" quat="0.5692 0.1782 0.08 0.7987"/>
+          <geom name="elbow_L_wrapping" class="wrapping" size="0.015 0.05" pos="-0.05 0.015 -0.135"/>
+          <site name="elbow_L_wrapping_forward" class="wrapping" pos="0.03 0.015 -0.15"/>
+          <site name="elbow_L_wrapping_backward" class="wrapping" pos="-0.1 0.015 -0.15"/>
+          <site name="m_biceps_brachii_L_1" class="connector" group="4" pos="0.01475 -0.002418 -0.04001"/>
+          <site name="m_biceps_brachii_L_2" class="connector" group="4" pos="-0.03201 0.001928 -0.143"/>
+          <site name="m_deltoideus_acromialis_L_1" class="connector" group="4" pos="0.004466 0.02376 -0.03096"/>
+          <site name="m_deltoideus_acromialis_L_2" class="connector" group="4" pos="-0.003707 0.01445 -0.08672"/>
+          <site name="m_extensor_digitorum_lat_L_0" class="connector" group="4" pos="-0.05256 0.02306 -0.1454"/>
+          <site name="m_extensor_capri_ulnaris_L_0" class="connector" group="4" pos="-0.0528 0.02452 -0.1445"/>
+          <site name="m_extensor_digitorum_communis_L_0" class="connector" group="4" pos="-0.04816 0.02485 -0.1442"/>
+          <site name="m_subscapularis_L_2" class="connector" group="4" pos="0.007262 -0.003387 -0.01519"/>
+          <site name="m_infraspinatus_L_1" class="connector" group="4" pos="0.0009313 0.01448 0.007959"/>
+          <site name="m_infraspinatus_L_2" class="connector" group="4" pos="0.01243 0.01358 -0.01068"/>
+          <site name="m_supraspinatus_L_2" class="connector" group="4" pos="0.02469 0.01031 -0.007661"/>
+          <site name="m_brachialis_L_0" class="connector" group="4" pos="0.005802 0.0137 -0.009048"/>
+          <site name="m_brachialis_L_1" class="connector" group="4" pos="-0.01893 0.01663 -0.1173"/>
+          <site name="m_extensor_capri_radialis_L_0" class="connector" group="4" pos="-0.02491 0.01721 -0.1029"/>
+          <site name="m_teres_major_L_1" class="connector" group="4" pos="-0.02295 -0.001406 -0.01642"/>
+          <site name="m_teres_major_L_2" class="connector" group="4" pos="0.0005476 0.005128 -0.05164"/>
+          <site name="m_triceps_brachii_long_L(2)_1" class="connector" group="4" pos="-0.05458 0.01292 -0.0833"/>
+          <site name="m_flexor_capri_radialis_L_0" class="connector" group="4" pos="-0.04917 0.001086 -0.1446"/>
+          <site name="m_triceps_brachii_medial_L_0" class="connector" group="4" pos="0.006262 -0.001151 -0.0404"/>
+          <site name="m_triceps_brachii_long_L_1" class="connector" group="4" pos="-0.0356 0.01579 -0.02732"/>
+          <site name="m_triceps_brachii_lateral_L_0" class="connector" group="4" pos="0.006198 0.01993 -0.004729"/>
+          <site name="m_triceps_brachii_lateral_L_1" class="connector" group="4" pos="-0.04166 0.02435 -0.1077"/>
+          <site name="m_tensor_f.antebrachii_L_1" class="connector" group="4" pos="-0.05658 0.004313 -0.07553"/>
+          <site name="m_triceps_brachii_accessory_L_0" class="connector" group="4" pos="0.0009322 0.006861 -0.01085"/>
+        </body>
+        <geom name="Scapula_L_collision" class="collision_primitive" type="box" size="0.01758 0.03491 0.05749" pos="0.0413 0.03083 -0.0683" quat="0.7347 -0.1644 -0.2717 0.5995"/>
+        <geom name="shoulder_L_wrapping" class="wrapping" size="0.015 0.05" pos="0.075 0.033 -0.13"/>
+        <site name="shoulder_L_wrapping_forward" class="wrapping" pos="0.1 0.033 -0.13"/>
+        <site name="shoulder_L_wrapping_backward" class="wrapping" pos="0.02 0.033 -0.13"/>
+        <site name="m_biceps_brachii_L_0" class="connector" group="4" pos="0.08687 0.02947 -0.1185"/>
+        <site name="m_deltoideus_acromialis_L_0" class="connector" group="4" pos="0.07895 0.05228 -0.1052"/>
+        <site name="m_subscapularis_L_0" class="connector" group="4" pos="0.02583 0.01269 -0.01517"/>
+        <site name="m_subscapularis_L_1" class="connector" group="4" pos="0.0727 0.02045 -0.1246"/>
+        <site name="m_infraspinatus_L_0" class="connector" group="4" pos="0.01248 0.02611 -0.02177"/>
+        <site name="m_supraspinatus_L_0" class="connector" group="4" pos="0.03214 0.02191 -0.01116"/>
+        <site name="m_supraspinatus_L_1" class="connector" group="4" pos="0.08632 0.04182 -0.108"/>
+        <site name="m_teres_major_L_0" class="connector" group="4" pos="-0.01211 0.04245 -0.05965"/>
+        <site name="m_triceps_brachii_long_L(2)_0" class="connector" group="4" pos="0.02615 0.04203 -0.1616"/>
+        <site name="m_triceps_brachii_long_L_0" class="connector" group="4" pos="0.02943 0.04167 -0.08259"/>
+        <site name="m_tensor_f.antebrachii_L_0" class="connector" group="4" pos="0.02006 0.03679 -0.1544"/>
+        <site name="m_omotransversarius_L_2" class="connector" group="4" pos="0.08011 0.05132 -0.1026"/>
+        <site name="m_thoracis_serratus_ventr_L_1" class="connector" group="4" pos="0.04353 0.01765 -0.03834"/>
+        <site name="m_rhomboideus_L_2" class="connector" group="4" pos="-0.01857 0.03753 -0.05802"/>
+      </body>
+      <body name="scapula_R" pos="0.08 -0.02 0.14">
+        <geom name="Scapula_R" class="bone" pos="-0.1179 0.02 -0.5586" mesh="Scapula_R"/>
+        <joint name="scapula_R_supinate" class="scapula_supinate" pos="-0.03 0.02 0" axis="0 0 -1"/>
+        <joint name="scapula_R_abduct" class="scapula_abduct" pos="0 0.05 -0.07" axis="-1 0 0"/>
+        <joint name="scapula_R_extend" class="scapula_extend" pos="0 0 0" axis="-0.3 1 0"/>
+        <body name="upper_arm_R" pos="0.075 -0.033 -0.13">
+          <geom name="humerus_R" class="bone" pos="-0.1929 0.053 -0.4286" mesh="humerus_R"/>
+          <joint name="shoulder_R_supinate" class="shoulder_supinate" axis="1 0 -1"/>
+          <joint name="shoulder_R_extend" class="shoulder_extend" axis="0 1 0"/>
+          <body name="lower_arm_R" pos="-0.05 -0.015 -0.145">
+            <geom name="Ulna_R" class="bone" pos="-0.1429 0.068 -0.2836" mesh="Ulna_R"/>
+            <geom name="Carpal_accessory_R" class="bone" pos="-0.1429 0.068 -0.2836" mesh="Carpal_accessory_R"/>
+            <geom name="Carpal_ulnar_R" class="bone" pos="-0.1429 0.068 -0.2836" mesh="Carpal_ulnar_R"/>
+            <geom name="Radius_R" class="bone" pos="-0.1429 0.068 -0.2836" mesh="Radius_R"/>
+            <joint name="elbow_R" class="elbow" axis="0 1 -0.2"/>
+            <body name="hand_anchor_R" pos="0.003 0.015 -0.19">
+              <geom name="hand_anchor_R" class="foot_primitive" type="box" contype="0" conaffinity="0" size="0.005 0.005 0.005"/>
+              <site name="hand_anchor_R" class="sensor"/>
+              <body name="hand_R">
+                <geom name="Os_metacarpale_III_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_III_R"/>
+                <geom name="Os_metacarpale_IV_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_IV_R"/>
+                <geom name="Os_metacarpale_II_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_II_R"/>
+                <geom name="Os_metacarpale_V_R.001" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_V_R.001"/>
+                <geom name="Carpal_II_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_II_R"/>
+                <geom name="Carpal_IV_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_IV_R"/>
+                <geom name="Carpal_III_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_III_R"/>
+                <geom name="Phalanx_distalis_digiti_I_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Phalanx_distalis_digiti_I_R"/>
+                <geom name="Carpal_I_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_I_R"/>
+                <geom name="Os_metacarpale_I_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_I_R"/>
+                <geom name="Os_metacarpale_V_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Os_metacarpale_V_R"/>
+                <geom name="Carpal_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_R"/>
+                <geom name="Carpal_Sesamoid_R" class="bone" pos="-0.1459 0.053 -0.09359" mesh="Carpal_Sesamoid_R"/>
+                <joint name="wrist_R" class="wrist" axis="0 -1 0"/>
+                <geom name="hand_R_collision" class="collision_primitive" type="box" size="0.03 0.016 0.012" pos="0.01 0 -0.04" euler="0 65 0"/>
+                <body name="finger_R" pos="0.02 0 -0.06">
+                  <geom name="Phalanxpmxinutlis_digiti_IV_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_IV_R"/>
+                  <geom name="Phalanx_distalis_digiti_II_R" class="visible_bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_distalis_digiti_II_R"/>
+                  <geom name="Phalanx_distalis_digiti_IV_R" class="visible_bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_distalis_digiti_IV_R"/>
+                  <geom name="Phalanxpmxinutlis_digiti_II_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_II_R"/>
+                  <geom name="Phalanx_media_digiti_V_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_media_digiti_V_R"/>
+                  <geom name="Phalanxpmxinutlis_digiti_V_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_V_R"/>
+                  <geom name="Phalanx_distalis_digiti_III_R" class="visible_bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_distalis_digiti_III_R"/>
+                  <geom name="Phalanx_distalis_digiti_V_R" class="visible_bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_distalis_digiti_V_R"/>
+                  <geom name="Phalanxpmxinutlis_digiti_III_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanxpmxinutlis_digiti_III_R"/>
+                  <geom name="Phalanx_media_digiti_II_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_media_digiti_II_R"/>
+                  <geom name="Phalanx_media_digiti_III_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_media_digiti_III_R"/>
+                  <geom name="Phalanx_media_digiti_IV_R" class="bone" pos="-0.1659 0.053 -0.03359" mesh="Phalanx_media_digiti_IV_R"/>
+                  <joint name="finger_R" class="finger" axis="0 1 -0.2"/>
+                  <geom name="finger_R0_collision" class="foot_primitive" size="0.018 0.012" pos="0.012 0 -0.012" euler="90 0 0"/>
+                  <geom name="finger_R1_collision" class="foot_primitive" size="0.01 0.015" pos="0.032 0 -0.02" euler="90 0 0"/>
+                  <geom name="finger_R2_collision" class="foot_primitive" size="0.008 0.01" pos="0.042 0 -0.022" euler="90 0 0"/>
+                  <site name="palm_R" class="sensor" type="box" size="0.028 0.03 0.007" pos="0.02 0 -0.024"/>
+                  <site name="m_extensor_digitorum_lat_R_3" class="connector" group="4" pos="0.018 -0.01083 -0.001528"/>
+                  <site name="m_extensor_digitorum_lat_R_4" class="connector" group="4" pos="0.04782 -0.01378 -0.02216"/>
+                  <site name="m_extensor_digitorum_communis_R_4" class="connector" group="4" pos="0.0392 -0.004858 -0.01281"/>
+                  <site name="m_extensor_digitorum_communis_R_5" class="connector" group="4" pos="0.04443 -0.005201 -0.02301"/>
+                  <site name="m_flexor_digitorum_profundus_R_3" class="connector" group="4" pos="0.02979 -0.003813 -0.02043"/>
+                  <site name="m_flexor_digitorum_profundus_R_4" class="connector" group="4" pos="0.03947 -0.004513 -0.03065"/>
+                </body>
+                <geom name="finger_R_wrapping" class="wrapping" size="0.015 0.05" pos="0.01 0 -0.05"/>
+                <site name="finger_R_wrapping_forward" class="wrapping" pos="0.05 0 -0.06"/>
+                <site name="finger_R_wrapping_backward" class="wrapping" pos="-0.05 0 -0.06"/>
+                <site name="m_extensor_digitorum_lat_R_2" class="connector" group="4" pos="0.006265 -0.01105 -0.0111"/>
+                <site name="m_extensor_capri_ulnaris_R_3" class="connector" group="4" pos="-0.001904 -0.01329 -0.02038"/>
+                <site name="m_extensor_digitorum_communis_R_3" class="connector" group="4" pos="0.01472 -0.001461 -0.02182"/>
+                <site name="m_abductor_pollicis_longus_R_2" class="connector" group="4" pos="0.001988 0.01497 -0.0179"/>
+                <site name="m_extensor_capri_radialis_R_3" class="connector" group="4" pos="0.009963 0.008269 -0.008183"/>
+                <site name="m_flexor_capri_radialis_R_3" class="connector" group="4" pos="0.01149 0.001717 -0.02966"/>
+                <site name="m_flexor_digitorum_profundus_R_2" class="connector" group="4" pos="-0.004043 -0.0001428 -0.01122"/>
+              </body>
+              <geom name="wrist_R_wrapping" class="wrapping" size="0.011 0.05" pos="0 0 0.012"/>
+            </body>
+            <geom name="Ulna_R_collision" class="collision_primitive" size="0.015 0.06" pos="-0.00939 0.0004416 -0.05501" quat="0.7137 -0.02206 -0.03224 0.6993"/>
+            <geom name="Radius_R_collision" class="collision_primitive" size="0.017 0.09" pos="0.0008281 0.006968 -0.1114" quat="0.9802 0.05682 0.01088 -0.1893"/>
+            <site name="wrist_R_wrapping_forward" class="wrapping" pos="0.015 0.015 -0.18"/>
+            <site name="wrist_R_wrapping_backward" class="wrapping" pos="-0.05 0.015 -0.19"/>
+            <site name="m_biceps_brachii_R_3" class="connector" group="4" pos="0.005889 0.003516 -0.04956"/>
+            <site name="m_extensor_digitorum_lat_R_0" class="connector" group="4" pos="-0.002793 -0.005752 -0.02079"/>
+            <site name="m_extensor_digitorum_lat_R_1" class="connector" group="4" pos="-0.0002594 -0.003561 -0.1308"/>
+            <site name="m_extensor_capri_ulnaris_R_1" class="connector" group="4" pos="-0.001625 -0.009939 -0.05222"/>
+            <site name="m_extensor_capri_ulnaris_R_2" class="connector" group="4" pos="-0.002979 -0.001126 -0.1676"/>
+            <site name="m_extensor_digitorum_communis_R_1" class="connector" group="4" pos="0.006722 -0.008765 -0.04942"/>
+            <site name="m_extensor_digitorum_communis_R_2" class="connector" group="4" pos="0.01249 0.01056 -0.1608"/>
+            <site name="m_abductor_pollicis_longus_R_0" class="connector" group="4" pos="-0.0004968 -0.005503 -0.04838"/>
+            <site name="m_abductor_pollicis_longus_R_1" class="connector" group="4" pos="0.009838 0.007731 -0.1654"/>
+            <site name="m_brachialis_R_2" class="connector" group="4" pos="0.01074 0.009903 -0.02115"/>
+            <site name="m_brachialis_R_3" class="connector" group="4" pos="-0.003323 0.003222 -0.05118"/>
+            <site name="m_extensor_capri_radialis_R_1" class="connector" group="4" pos="0.01483 -0.007239 -0.02039"/>
+            <site name="m_extensor_capri_radialis_R_2" class="connector" group="4" pos="0.01381 0.01243 -0.1349"/>
+            <site name="m_triceps_brachii_long_R(2)_2" class="connector" group="4" pos="-0.02499 0.001406 0.009374"/>
+            <site name="m_flexor_capri_radialis_R_1" class="connector" group="4" pos="0.003282 0.01432 -0.05153"/>
+            <site name="m_flexor_capri_radialis_R_2" class="connector" group="4" pos="0.0007541 0.02161 -0.167"/>
+            <site name="m_triceps_brachii_medial_R_1" class="connector" group="4" pos="-0.004323 0.009122 0.02003"/>
+            <site name="m_triceps_brachii_medial_R_2" class="connector" group="4" pos="-0.01878 0.004421 -0.006034"/>
+            <site name="m_triceps_brachii_long_R_2" class="connector" group="4" pos="-0.01137 0.002764 0.03266"/>
+            <site name="m_triceps_brachii_long_R_3" class="connector" group="4" pos="-0.02451 0.001772 0.01072"/>
+            <site name="m_tricepsbrachii_lateral_R_2" class="connector" group="4" pos="-0.01969 -0.005826 -0.01011"/>
+            <site name="m_tensor_f.antebrachii_R_2" class="connector" group="4" pos="-0.01966 0.006246 0.01836"/>
+            <site name="m_tensor_f.antebrachii_R_3" class="connector" group="4" pos="-0.02381 0.005063 0.007893"/>
+            <site name="m_triceps_brachii_accessory_R_1" class="connector" group="4" pos="-0.0104 0.001453 0.03053"/>
+            <site name="m_triceps_brachii_accessory_R_2" class="connector" group="4" pos="-0.02189 0.002415 0.01122"/>
+            <site name="m_flexor_digitorum_profundus_R_0" class="connector" group="4" pos="-0.01525 0.00369 -0.00459"/>
+            <site name="m_flexor_digitorum_profundus_R_1" class="connector" group="4" pos="-0.006663 0.01088 -0.1226"/>
+          </body>
+          <geom name="humerus_R_collision" class="collision_primitive" size="0.02 0.08" pos="-0.01554 -0.00985 -0.08041" quat="0.7987 0.08 0.1782 0.5692"/>
+          <geom name="elbow_R_wrapping" class="wrapping" size="0.015 0.05" pos="-0.05 -0.015 -0.135"/>
+          <site name="elbow_R_wrapping_forward" class="wrapping" pos="0.03 -0.015 -0.15"/>
+          <site name="elbow_R_wrapping_backward" class="wrapping" pos="-0.1 -0.015 -0.15"/>
+          <site name="m_biceps_brachii_R_1" class="connector" group="4" pos="0.01475 0.002418 -0.04001"/>
+          <site name="m_biceps_brachii_R_2" class="connector" group="4" pos="-0.03201 -0.001928 -0.143"/>
+          <site name="m_deltoideus_acromialis_R_1" class="connector" group="4" pos="0.004466 -0.02376 -0.03096"/>
+          <site name="m_deltoideus_acromialis_R_2" class="connector" group="4" pos="-0.003707 -0.01445 -0.08672"/>
+          <site name="m_extensor_capri_ulnaris_R_0" class="connector" group="4" pos="-0.0528 -0.02452 -0.1445"/>
+          <site name="m_extensor_digitorum_communis_R_0" class="connector" group="4" pos="-0.04816 -0.02485 -0.1442"/>
+          <site name="m_subscapularis_R_2" class="connector" group="4" pos="0.007262 0.003387 -0.01519"/>
+          <site name="m_infraspinatus_R_1" class="connector" group="4" pos="0.0009313 -0.01448 0.007959"/>
+          <site name="m_infraspinatus_R_2" class="connector" group="4" pos="0.01243 -0.01358 -0.01068"/>
+          <site name="m_supraspinatus_R_2" class="connector" group="4" pos="0.02469 -0.01031 -0.007661"/>
+          <site name="m_brachialis_R_0" class="connector" group="4" pos="0.005802 -0.0137 -0.009048"/>
+          <site name="m_brachialis_R_1" class="connector" group="4" pos="-0.01893 -0.01663 -0.1173"/>
+          <site name="m_extensor_capri_radialis_R_0" class="connector" group="4" pos="-0.02491 -0.01721 -0.1029"/>
+          <site name="m_teres_major_R_1" class="connector" group="4" pos="-0.02295 0.001406 -0.01642"/>
+          <site name="m_teres_major_R_2" class="connector" group="4" pos="0.0005476 -0.005128 -0.05164"/>
+          <site name="m_triceps_brachii_long_R(2)_1" class="connector" group="4" pos="-0.05458 -0.01292 -0.0833"/>
+          <site name="m_flexor_capri_radialis_R_0" class="connector" group="4" pos="-0.04917 -0.001086 -0.1446"/>
+          <site name="m_triceps_brachii_medial_R_0" class="connector" group="4" pos="0.006262 0.001151 -0.0404"/>
+          <site name="m_triceps_brachii_long_R_1" class="connector" group="4" pos="-0.0356 -0.01579 -0.02732"/>
+          <site name="m_tricepsbrachii_lateral_R_0" class="connector" group="4" pos="0.006198 -0.01993 -0.004729"/>
+          <site name="m_tricepsbrachii_lateral_R_1" class="connector" group="4" pos="-0.04166 -0.02435 -0.1077"/>
+          <site name="m_tensor_f.antebrachii_R_1" class="connector" group="4" pos="-0.05658 -0.004312 -0.07553"/>
+          <site name="m_triceps_brachii_accessory_R_0" class="connector" group="4" pos="0.0009322 -0.006861 -0.01085"/>
+        </body>
+        <geom name="Scapula_R_collision" class="collision_primitive" type="box" size="0.01758 0.03491 0.05749" pos="0.0413 -0.03083 -0.0683" quat="0.5995 -0.2717 -0.1644 0.7347"/>
+        <geom name="shoulder_R_wrapping" class="wrapping" size="0.015 0.05" pos="0.075 -0.033 -0.13"/>
+        <site name="shoulder_R_wrapping_forward" class="wrapping" pos="0.1 -0.033 -0.13"/>
+        <site name="shoulder_R_wrapping_backward" class="wrapping" pos="0.02 -0.033 -0.13"/>
+        <site name="m_biceps_brachii_R_0" class="connector" group="4" pos="0.08687 -0.02947 -0.1185"/>
+        <site name="m_deltoideus_acromialis_R_0" class="connector" group="4" pos="0.07895 -0.05228 -0.1052"/>
+        <site name="m_subscapularis_R_0" class="connector" group="4" pos="0.02583 -0.01269 -0.01517"/>
+        <site name="m_subscapularis_R_1" class="connector" group="4" pos="0.0727 -0.02045 -0.1246"/>
+        <site name="m_infraspinatus_R_0" class="connector" group="4" pos="0.01248 -0.02611 -0.02177"/>
+        <site name="m_supraspinatus_R_0" class="connector" group="4" pos="0.03214 -0.02191 -0.01116"/>
+        <site name="m_supraspinatus_R_1" class="connector" group="4" pos="0.08632 -0.04182 -0.108"/>
+        <site name="m_teres_major_R_0" class="connector" group="4" pos="-0.01211 -0.04245 -0.05965"/>
+        <site name="m_triceps_brachii_long_R(2)_0" class="connector" group="4" pos="0.02615 -0.04203 -0.1616"/>
+        <site name="m_triceps_brachii_long_R_0" class="connector" group="4" pos="0.02943 -0.04167 -0.08259"/>
+        <site name="m_tensor_f.antebrachii_R_0" class="connector" group="4" pos="0.02006 -0.03679 -0.1544"/>
+        <site name="m_rhomboideus_R_2" class="connector" group="4" pos="-0.01857 -0.03753 -0.05802"/>
+        <site name="m_thoracis_serratus_ventr_R_1" class="connector" group="4" pos="0.04353 -0.01765 -0.03834"/>
+        <site name="m_omotransversarius_R_2" class="connector" group="4" pos="0.08011 -0.05132 -0.1026"/>
+      </body>
+      <inertial pos="0 0 0" quat="0.4549 0.5414 0.5414 0.4549" mass="2.144" diaginertia="0.02167 0.01957 0.009093"/>
+      <geom name="Ribcage" class="bone" pos="-0.05279 -0.0003659 -0.4218" mesh="Ribcage"/>
+      <site name="C_7_wrapping_forward" class="wrapping" pos="0.19 0 0.055"/>
+      <site name="C_7_wrapping_backward" class="wrapping" pos="0.09 0 0.12"/>
+      <site name="m_longissimus_thoracis_L_1" class="connector" group="4" pos="-0.07062 0.01507 0.09396"/>
+      <site name="m_longissimus_thoracis_L_2" class="connector" group="4" pos="0.04256 0.0145 0.08698"/>
+      <site name="m_longissimus_capitis_L_3" class="connector" group="4" pos="-0.1172 0.02901 0.08707"/>
+      <site name="m_longissimus_capitis_L_4" class="connector" group="4" pos="-0.004792 0.0286 0.08224"/>
+      <site name="m_longissimus_capitis_L_5" class="connector" group="4" pos="0.1076 0.01963 0.08166"/>
+      <site name="m_longissimus_thoracis_R_1" class="connector" group="4" pos="-0.07062 -0.01507 0.09396"/>
+      <site name="m_longissimus_thoracis_R_2" class="connector" group="4" pos="0.04256 -0.0145 0.08698"/>
+      <site name="m_longissimus_capitis_R(2)_3" class="connector" group="4" pos="-0.1172 -0.02901 0.08707"/>
+      <site name="m_longissimus_capitis_R(2)_4" class="connector" group="4" pos="-0.004792 -0.0286 0.08224"/>
+      <site name="m_longissimus_capitis_R(2)_5" class="connector" group="4" pos="0.1076 -0.01963 0.08166"/>
+      <site name="m_psoas_minor_L_4" class="connector" group="4" pos="-0.1064 0.007004 0.07434"/>
+      <site name="m_psoas_minor_L_5" class="connector" group="4" pos="-0.05569 0.003372 0.07768"/>
+      <site name="m_obliquus_ext_abdominis_R_2" class="connector" group="4" pos="-0.1825 -0.05548 0.01725"/>
+      <site name="m_obliquus_ext_abdominis_R_3" class="connector" group="4" pos="-0.07371 -0.06115 -0.03526"/>
+      <site name="m_obliquus_ext_abdominis_R_4" class="connector" group="4" pos="0.04517 -0.06302 -0.01333"/>
+      <site name="m_tranversus_abdominis_L_2" class="connector" group="4" pos="-0.1887 0.03469 0.01699"/>
+      <site name="m_tranversus_abdominis_L_3" class="connector" group="4" pos="-0.1103 0.03717 -0.06983"/>
+      <site name="m_tranversus_abdominis_L_4" class="connector" group="4" pos="-0.08997 0.03482 -0.079"/>
+      <site name="m_psoas_major_L_4" class="connector" group="4" pos="-0.09169 0.01228 0.07585"/>
+      <site name="m_psoas_major_L_5" class="connector" group="4" pos="-0.03127 0.0069 0.07834"/>
+      <site name="m_obliquus_ext_abdominis_L_2" class="connector" group="4" pos="-0.1825 0.05548 0.01725"/>
+      <site name="m_obliquus_ext_abdominis_L_3" class="connector" group="4" pos="-0.07371 0.06115 -0.03526"/>
+      <site name="m_obliquus_ext_abdominis_L_4" class="connector" group="4" pos="0.04517 0.06302 -0.01333"/>
+      <site name="m_tranversus_abdominis_R_2" class="connector" group="4" pos="-0.1887 -0.03469 0.01699"/>
+      <site name="m_tranversus_abdominis_R_3" class="connector" group="4" pos="-0.1103 -0.03717 -0.06983"/>
+      <site name="m_tranversus_abdominis_R_4" class="connector" group="4" pos="-0.08997 -0.03482 -0.079"/>
+      <site name="m_psoas_major_R_4" class="connector" group="4" pos="-0.09169 -0.01228 0.07585"/>
+      <site name="m_psoas_major_R_5" class="connector" group="4" pos="-0.03127 -0.0069 0.07834"/>
+      <site name="m_psoas_minor_R_4" class="connector" group="4" pos="-0.1064 -0.007004 0.07434"/>
+      <site name="m_psoas_minor_R_5" class="connector" group="4" pos="-0.05569 -0.003372 0.07768"/>
+      <site name="m_Ligament_2" class="connector" group="4" pos="-0.09753 0 0.1146"/>
+      <site name="m_Ligament_3" class="connector" group="4" pos="0.05498 0 0.1297"/>
+      <site name="m_longus_capitis_L_2" class="connector" group="4" pos="0.1231 0.01151 0.08336"/>
+      <site name="m_longus_capitis_L_3" class="connector" group="4" pos="0.09576 0.01269 0.07432"/>
+      <site name="m_splenius_L_2" class="connector" group="4" pos="0.0742 0.002977 0.1277"/>
+      <site name="m_splenius_L_3" class="connector" group="4" pos="0.05112 0.001237 0.1201"/>
+      <site name="m_sternohyroideus_L_2" class="connector" group="4" pos="0.1904 0.002078 -0.002784"/>
+      <site name="m_sternohyroideus_L_3" class="connector" group="4" pos="0.1858 0.002137 -0.01319"/>
+      <site name="m_sternothyroideus_R_2" class="connector" group="4" pos="0.1898 -0.003479 0.007999"/>
+      <site name="m_sternothyroideus_R_3" class="connector" group="4" pos="0.1866 -0.002499 -0.01222"/>
+      <site name="m_longissimus_cervicis_R_1" class="connector" group="4" pos="0.1072 -0.012 0.09773"/>
+      <site name="m_rhomboideus_R_1" class="connector" group="4" pos="0.06356 -0.02177 0.1224"/>
+      <site name="m_sternocephalicus_L_3" class="connector" group="4" pos="0.192 0.003291 -0.006337"/>
+      <site name="m_longissimus_capitis_L(2)_2" class="connector" group="4" pos="0.1199 0.00776 0.09015"/>
+      <site name="m_longissimus_capitis_L(2)_3" class="connector" group="4" pos="0.08704 0.008962 0.0732"/>
+      <site name="m_thoracis_serratus_ventr_R_2" class="connector" group="4" pos="0.06023 -0.05701 0.002407"/>
+      <site name="m_thoracis_serratus_ventr_R_3" class="connector" group="4" pos="0.06207 -0.05622 -0.03068"/>
+      <site name="m_longissimus_capitis_R_2" class="connector" group="4" pos="0.1199 -0.00776 0.09015"/>
+      <site name="m_longissimus_capitis_R_3" class="connector" group="4" pos="0.08704 -0.008962 0.0732"/>
+      <site name="m_sternocephalicus_R_3" class="connector" group="4" pos="0.192 -0.003291 -0.006337"/>
+      <site name="m_thoracis_serratus_ventr_L_2" class="connector" group="4" pos="0.06023 0.05701 0.002407"/>
+      <site name="m_thoracis_serratus_ventr_L_3" class="connector" group="4" pos="0.06207 0.05622 -0.03068"/>
+      <site name="m_longus_capitis_R_2" class="connector" group="4" pos="0.1231 -0.01151 0.08336"/>
+      <site name="m_longus_capitis_R_3" class="connector" group="4" pos="0.09576 -0.01269 0.07432"/>
+      <site name="m_splenius_R_2" class="connector" group="4" pos="0.0742 -0.002976 0.1277"/>
+      <site name="m_splenius_R_3" class="connector" group="4" pos="0.05112 -0.001237 0.1201"/>
+      <site name="m_sternohyroideus_R_2" class="connector" group="4" pos="0.1904 -0.002078 -0.002784"/>
+      <site name="m_sternohyroideus_R_3" class="connector" group="4" pos="0.1858 -0.002137 -0.01319"/>
+      <site name="m_sternothyroideus_L_2" class="connector" group="4" pos="0.1898 0.003479 0.007999"/>
+      <site name="m_sternothyroideus_L_3" class="connector" group="4" pos="0.1866 0.002499 -0.01222"/>
+      <site name="m_longissimus_cervicis_L_1" class="connector" group="4" pos="0.1072 0.012 0.09773"/>
+      <site name="m_rhomboideus_L_1" class="connector" group="4" pos="0.06356 0.02177 0.1224"/>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude name="upper_arm_L:torso" body1="upper_arm_L" body2="torso"/>
+    <exclude name="upper_arm_R:torso" body1="upper_arm_R" body2="torso"/>
+    <exclude name="pelvis:Ca_2" body1="pelvis" body2="Ca_2"/>
+    <exclude name="pelvis:Ca_3" body1="pelvis" body2="Ca_3"/>
+    <exclude name="Ca_1:Ca_3" body1="Ca_1" body2="Ca_3"/>
+    <exclude name="Ca_2:Ca_4" body1="Ca_2" body2="Ca_4"/>
+    <exclude name="Ca_3:Ca_5" body1="Ca_3" body2="Ca_5"/>
+    <exclude name="Ca_4:Ca_6" body1="Ca_4" body2="Ca_6"/>
+    <exclude name="C_7:scapula_L" body1="C_7" body2="scapula_L"/>
+    <exclude name="C_7:scapula_R" body1="C_7" body2="scapula_R"/>
+    <exclude name="C_6:scapula_L" body1="C_6" body2="scapula_L"/>
+    <exclude name="C_6:scapula_R" body1="C_6" body2="scapula_R"/>
+    <exclude name="C_5:scapula_L" body1="C_5" body2="scapula_L"/>
+    <exclude name="C_5:scapula_R" body1="C_5" body2="scapula_R"/>
+    <exclude name="C_1:jaw" body1="C_1" body2="jaw"/>
+    <exclude name="torso:lower_arm_L" body1="torso" body2="lower_arm_L"/>
+    <exclude name="torso:lower_arm_R" body1="torso" body2="lower_arm_R"/>
+    <exclude name="C_4:scapula_R" body1="C_4" body2="scapula_R"/>
+    <exclude name="C_4:scapula_L" body1="C_4" body2="scapula_L"/>
+    <exclude name="C_5:upper_arm_R" body1="C_5" body2="upper_arm_R"/>
+    <exclude name="C_5:upper_arm_L" body1="C_5" body2="upper_arm_L"/>
+    <exclude name="C_6:upper_arm_R" body1="C_6" body2="upper_arm_R"/>
+    <exclude name="C_6:upper_arm_L" body1="C_6" body2="upper_arm_L"/>
+    <exclude name="C_7:upper_arm_R" body1="C_7" body2="upper_arm_R"/>
+    <exclude name="C_7:upper_arm_L" body1="C_7" body2="upper_arm_L"/>
+    <exclude name="upper_leg_L:upper_leg_R" body1="upper_leg_L" body2="upper_leg_R"/>
+    <exclude name="lower_leg_L:pelvis" body1="lower_leg_L" body2="pelvis"/>
+    <exclude name="upper_leg_L:foot_L" body1="upper_leg_L" body2="foot_L"/>
+    <exclude name="lower_leg_R:pelvis" body1="lower_leg_R" body2="pelvis"/>
+    <exclude name="upper_leg_R:foot_R" body1="upper_leg_R" body2="foot_R"/>
+  </contact>
+
+  <tendon>
+    <spatial name="m_biceps_brachii_L_tendon" class="muscle">
+      <site site="m_biceps_brachii_L_0"/>
+      <geom geom="shoulder_L_wrapping" sidesite="shoulder_L_wrapping_forward"/>
+      <site site="m_biceps_brachii_L_1"/>
+      <site site="m_biceps_brachii_L_2"/>
+      <site site="m_biceps_brachii_L_3"/>
+    </spatial>
+    <spatial name="m_deltoideus_acromialis_L_tendon" class="muscle">
+      <site site="m_deltoideus_acromialis_L_0"/>
+      <geom geom="shoulder_L_wrapping" sidesite="shoulder_L_wrapping_forward"/>
+      <site site="m_deltoideus_acromialis_L_1"/>
+      <site site="m_deltoideus_acromialis_L_2"/>
+    </spatial>
+    <spatial name="m_extensor_digitorum_lat_L_tendon" class="muscle">
+      <site site="m_extensor_digitorum_lat_L_0"/>
+      <site site="m_extensor_digitorum_lat_L_1"/>
+      <site site="m_extensor_digitorum_lat_L_2"/>
+      <geom geom="wrist_L_wrapping" sidesite="wrist_L_wrapping_forward"/>
+      <site site="m_extensor_digitorum_lat_L_3"/>
+      <geom geom="finger_L_wrapping" sidesite="finger_L_wrapping_forward"/>
+      <site site="m_extensor_digitorum_lat_L_4"/>
+    </spatial>
+    <spatial name="m_extensor_capri_ulnaris_L_tendon" class="muscle">
+      <site site="m_extensor_capri_ulnaris_L_0"/>
+      <site site="m_extensor_capri_ulnaris_L_1"/>
+      <site site="m_extensor_capri_ulnaris_L_2"/>
+      <geom geom="wrist_L_wrapping" sidesite="wrist_L_wrapping_forward"/>
+      <site site="m_extensor_capri_ulnaris_L_3"/>
+    </spatial>
+    <spatial name="m_extensor_digitorum_communis_L_tendon" class="muscle">
+      <site site="m_extensor_digitorum_communis_L_0"/>
+      <site site="m_extensor_digitorum_communis_L_1"/>
+      <site site="m_extensor_digitorum_communis_L_2"/>
+      <geom geom="wrist_L_wrapping" sidesite="wrist_L_wrapping_forward"/>
+      <site site="m_extensor_digitorum_communis_L_3"/>
+      <geom geom="finger_L_wrapping" sidesite="finger_L_wrapping_forward"/>
+      <site site="m_extensor_digitorum_communis_L_4"/>
+      <site site="m_extensor_digitorum_communis_L_5"/>
+    </spatial>
+    <spatial name="m_subscapularis_L_tendon" class="muscle">
+      <site site="m_subscapularis_L_0"/>
+      <site site="m_subscapularis_L_1"/>
+      <geom geom="shoulder_L_wrapping" sidesite="shoulder_L_wrapping_forward"/>
+      <site site="m_subscapularis_L_2"/>
+    </spatial>
+    <spatial name="m_infraspinatus_L_tendon" class="muscle">
+      <site site="m_infraspinatus_L_0"/>
+      <site site="m_infraspinatus_L_1"/>
+      <geom geom="shoulder_L_wrapping" sidesite="shoulder_L_wrapping_forward"/>
+      <site site="m_infraspinatus_L_2"/>
+    </spatial>
+    <spatial name="m_supraspinatus_L_tendon" class="muscle">
+      <site site="m_supraspinatus_L_0"/>
+      <site site="m_supraspinatus_L_1"/>
+      <geom geom="shoulder_L_wrapping" sidesite="shoulder_L_wrapping_forward"/>
+      <site site="m_supraspinatus_L_2"/>
+    </spatial>
+    <spatial name="m_abductor_pollicis_longus_L_tendon" class="muscle">
+      <site site="m_abductor_pollicis_longus_L_0"/>
+      <site site="m_abductor_pollicis_longus_L_1"/>
+      <geom geom="wrist_L_wrapping" sidesite="wrist_L_wrapping_forward"/>
+      <site site="m_abductor_pollicis_longus_L_2"/>
+    </spatial>
+    <spatial name="m_brachialis_L_tendon" class="muscle">
+      <site site="m_brachialis_L_0"/>
+      <site site="m_brachialis_L_1"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_forward"/>
+      <site site="m_brachialis_L_2"/>
+      <site site="m_brachialis_L_3"/>
+    </spatial>
+    <spatial name="m_extensor_capri_radialis_L_tendon" class="muscle">
+      <site site="m_extensor_capri_radialis_L_0"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_forward"/>
+      <site site="m_extensor_capri_radialis_L_1"/>
+      <site site="m_extensor_capri_radialis_L_2"/>
+      <geom geom="wrist_L_wrapping" sidesite="wrist_L_wrapping_forward"/>
+      <site site="m_extensor_capri_radialis_L_3"/>
+    </spatial>
+    <spatial name="m_biceps_brachii_R_tendon" class="muscle">
+      <site site="m_biceps_brachii_R_0"/>
+      <geom geom="shoulder_R_wrapping" sidesite="shoulder_R_wrapping_forward"/>
+      <site site="m_biceps_brachii_R_1"/>
+      <site site="m_biceps_brachii_R_2"/>
+      <site site="m_biceps_brachii_R_3"/>
+    </spatial>
+    <spatial name="m_deltoideus_acromialis_R_tendon" class="muscle">
+      <site site="m_deltoideus_acromialis_R_0"/>
+      <geom geom="shoulder_R_wrapping" sidesite="shoulder_R_wrapping_forward"/>
+      <site site="m_deltoideus_acromialis_R_1"/>
+      <site site="m_deltoideus_acromialis_R_2"/>
+    </spatial>
+    <spatial name="m_extensor_digitorum_lat_R_tendon" class="muscle">
+      <site site="m_extensor_digitorum_lat_R_0"/>
+      <site site="m_extensor_digitorum_lat_R_1"/>
+      <geom geom="wrist_R_wrapping" sidesite="wrist_R_wrapping_forward"/>
+      <site site="m_extensor_digitorum_lat_R_2"/>
+      <geom geom="finger_R_wrapping" sidesite="finger_R_wrapping_forward"/>
+      <site site="m_extensor_digitorum_lat_R_3"/>
+      <site site="m_extensor_digitorum_lat_R_4"/>
+    </spatial>
+    <spatial name="m_extensor_capri_ulnaris_R_tendon" class="muscle">
+      <site site="m_extensor_capri_ulnaris_R_0"/>
+      <site site="m_extensor_capri_ulnaris_R_1"/>
+      <site site="m_extensor_capri_ulnaris_R_2"/>
+      <geom geom="wrist_R_wrapping" sidesite="wrist_R_wrapping_forward"/>
+      <site site="m_extensor_capri_ulnaris_R_3"/>
+    </spatial>
+    <spatial name="m_extensor_digitorum_communis_R_tendon" class="muscle">
+      <site site="m_extensor_digitorum_communis_R_0"/>
+      <site site="m_extensor_digitorum_communis_R_1"/>
+      <site site="m_extensor_digitorum_communis_R_2"/>
+      <geom geom="wrist_R_wrapping" sidesite="wrist_R_wrapping_forward"/>
+      <site site="m_extensor_digitorum_communis_R_3"/>
+      <geom geom="finger_R_wrapping" sidesite="finger_R_wrapping_forward"/>
+      <site site="m_extensor_digitorum_communis_R_4"/>
+      <site site="m_extensor_digitorum_communis_R_5"/>
+    </spatial>
+    <spatial name="m_subscapularis_R_tendon" class="muscle">
+      <site site="m_subscapularis_R_0"/>
+      <site site="m_subscapularis_R_1"/>
+      <geom geom="shoulder_R_wrapping" sidesite="shoulder_R_wrapping_forward"/>
+      <site site="m_subscapularis_R_2"/>
+    </spatial>
+    <spatial name="m_infraspinatus_R_tendon" class="muscle">
+      <site site="m_infraspinatus_R_0"/>
+      <site site="m_infraspinatus_R_1"/>
+      <geom geom="shoulder_R_wrapping" sidesite="shoulder_R_wrapping_forward"/>
+      <site site="m_infraspinatus_R_2"/>
+    </spatial>
+    <spatial name="m_supraspinatus_R_tendon" class="muscle">
+      <site site="m_supraspinatus_R_0"/>
+      <site site="m_supraspinatus_R_1"/>
+      <geom geom="shoulder_R_wrapping" sidesite="shoulder_R_wrapping_forward"/>
+      <site site="m_supraspinatus_R_2"/>
+    </spatial>
+    <spatial name="m_abductor_pollicis_longus_R_tendon" class="muscle">
+      <site site="m_abductor_pollicis_longus_R_0"/>
+      <site site="m_abductor_pollicis_longus_R_1"/>
+      <geom geom="wrist_R_wrapping" sidesite="wrist_R_wrapping_forward"/>
+      <site site="m_abductor_pollicis_longus_R_2"/>
+    </spatial>
+    <spatial name="m_brachialis_R_tendon" class="muscle">
+      <site site="m_brachialis_R_0"/>
+      <site site="m_brachialis_R_1"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_forward"/>
+      <site site="m_brachialis_R_2"/>
+      <site site="m_brachialis_R_3"/>
+    </spatial>
+    <spatial name="m_extensor_capri_radialis_R_tendon" class="muscle">
+      <site site="m_extensor_capri_radialis_R_0"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_forward"/>
+      <site site="m_extensor_capri_radialis_R_1"/>
+      <site site="m_extensor_capri_radialis_R_2"/>
+      <geom geom="wrist_R_wrapping" sidesite="wrist_R_wrapping_forward"/>
+      <site site="m_extensor_capri_radialis_R_3"/>
+    </spatial>
+    <spatial name="m_teres_major_L_tendon" class="muscle">
+      <site site="m_teres_major_L_0"/>
+      <site site="m_teres_major_L_1"/>
+      <site site="m_teres_major_L_2"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_long_L(2)_tendon" class="muscle">
+      <site site="m_triceps_brachii_long_L(2)_0"/>
+      <site site="m_triceps_brachii_long_L(2)_1"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_backward"/>
+      <site site="m_triceps_brachii_long_L(2)_2"/>
+    </spatial>
+    <spatial name="m_flexor_capri_radialis_L_tendon" class="muscle">
+      <site site="m_flexor_capri_radialis_L_0"/>
+      <site site="m_flexor_capri_radialis_L_1"/>
+      <site site="m_flexor_capri_radialis_L_2"/>
+      <geom geom="wrist_L_wrapping" sidesite="wrist_L_wrapping_backward"/>
+      <site site="m_flexor_capri_radialis_L_3"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_medial_L_tendon" class="muscle">
+      <site site="m_triceps_brachii_medial_L_0"/>
+      <site site="m_triceps_brachii_medial_L_1"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_backward"/>
+      <site site="m_triceps_brachii_medial_L_2"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_long_L_tendon" class="muscle">
+      <site site="m_triceps_brachii_long_L_0"/>
+      <geom geom="shoulder_L_wrapping" sidesite="shoulder_L_wrapping_backward"/>
+      <site site="m_triceps_brachii_long_L_1"/>
+      <site site="m_triceps_brachii_long_L_2"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_backward"/>
+      <site site="m_triceps_brachii_long_L_3"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_lateral_L_tendon" class="muscle">
+      <site site="m_triceps_brachii_lateral_L_0"/>
+      <site site="m_triceps_brachii_lateral_L_1"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_backward"/>
+      <site site="m_triceps_brachii_lateral_L_2"/>
+    </spatial>
+    <spatial name="m_tensor_f.antebrachii_L_tendon" class="muscle">
+      <site site="m_tensor_f.antebrachii_L_0"/>
+      <site site="m_tensor_f.antebrachii_L_1"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_backward"/>
+      <site site="m_tensor_f.antebrachii_L_2"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_backward"/>
+      <site site="m_tensor_f.antebrachii_L_3"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_accessory_L_tendon" class="muscle">
+      <site site="m_triceps_brachii_accessory_L_0"/>
+      <site site="m_triceps_brachii_accessory_L_1"/>
+      <geom geom="elbow_L_wrapping" sidesite="elbow_L_wrapping_backward"/>
+      <site site="m_triceps_brachii_accessory_L_2"/>
+    </spatial>
+    <spatial name="m_flexor_digitorum_profundus_L_tendon" class="muscle">
+      <site site="m_flexor_digitorum_profundus_L_0"/>
+      <site site="m_flexor_digitorum_profundus_L_1"/>
+      <geom geom="wrist_L_wrapping" sidesite="wrist_L_wrapping_backward"/>
+      <site site="m_flexor_digitorum_profundus_L_2"/>
+      <geom geom="finger_L_wrapping" sidesite="finger_L_wrapping_backward"/>
+      <site site="m_flexor_digitorum_profundus_L_3"/>
+      <site site="m_flexor_digitorum_profundus_L_4"/>
+    </spatial>
+    <spatial name="m_teres_major_R_tendon" class="muscle">
+      <site site="m_teres_major_R_0"/>
+      <site site="m_teres_major_R_1"/>
+      <site site="m_teres_major_R_2"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_long_R(2)_tendon" class="muscle">
+      <site site="m_triceps_brachii_long_R(2)_0"/>
+      <site site="m_triceps_brachii_long_R(2)_1"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_backward"/>
+      <site site="m_triceps_brachii_long_R(2)_2"/>
+    </spatial>
+    <spatial name="m_flexor_capri_radialis_R_tendon" class="muscle">
+      <site site="m_flexor_capri_radialis_R_0"/>
+      <site site="m_flexor_capri_radialis_R_1"/>
+      <site site="m_flexor_capri_radialis_R_2"/>
+      <geom geom="wrist_R_wrapping" sidesite="wrist_R_wrapping_backward"/>
+      <site site="m_flexor_capri_radialis_R_3"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_medial_R_tendon" class="muscle">
+      <site site="m_triceps_brachii_medial_R_0"/>
+      <site site="m_triceps_brachii_medial_R_1"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_backward"/>
+      <site site="m_triceps_brachii_medial_R_2"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_long_R_tendon" class="muscle">
+      <site site="m_triceps_brachii_long_R_0"/>
+      <geom geom="shoulder_R_wrapping" sidesite="shoulder_R_wrapping_backward"/>
+      <site site="m_triceps_brachii_long_R_1"/>
+      <site site="m_triceps_brachii_long_R_2"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_backward"/>
+      <site site="m_triceps_brachii_long_R_3"/>
+    </spatial>
+    <spatial name="m_tricepsbrachii_lateral_R_tendon" class="muscle">
+      <site site="m_tricepsbrachii_lateral_R_0"/>
+      <site site="m_tricepsbrachii_lateral_R_1"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_backward"/>
+      <site site="m_tricepsbrachii_lateral_R_2"/>
+    </spatial>
+    <spatial name="m_tensor_f.antebrachii_R_tendon" class="muscle">
+      <site site="m_tensor_f.antebrachii_R_0"/>
+      <site site="m_tensor_f.antebrachii_R_1"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_backward"/>
+      <site site="m_tensor_f.antebrachii_R_2"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_backward"/>
+      <site site="m_tensor_f.antebrachii_R_3"/>
+    </spatial>
+    <spatial name="m_triceps_brachii_accessory_R_tendon" class="muscle">
+      <site site="m_triceps_brachii_accessory_R_0"/>
+      <site site="m_triceps_brachii_accessory_R_1"/>
+      <geom geom="elbow_R_wrapping" sidesite="elbow_R_wrapping_backward"/>
+      <site site="m_triceps_brachii_accessory_R_2"/>
+    </spatial>
+    <spatial name="m_flexor_digitorum_profundus_R_tendon" class="muscle">
+      <site site="m_flexor_digitorum_profundus_R_0"/>
+      <site site="m_flexor_digitorum_profundus_R_1"/>
+      <geom geom="wrist_R_wrapping" sidesite="wrist_R_wrapping_backward"/>
+      <site site="m_flexor_digitorum_profundus_R_2"/>
+      <geom geom="finger_R_wrapping" sidesite="finger_R_wrapping_backward"/>
+      <site site="m_flexor_digitorum_profundus_R_3"/>
+      <site site="m_flexor_digitorum_profundus_R_4"/>
+    </spatial>
+    <spatial name="m_extensor_digitorum_longus_L_tendon" class="muscle">
+      <site site="m_extensor_digitorum_longus_L_0"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_forward"/>
+      <site site="m_extensor_digitorum_longus_L_1"/>
+      <site site="m_extensor_digitorum_longus_L_2"/>
+      <site site="m_extensor_digitorum_longus_L_3"/>
+      <site site="m_extensor_digitorum_longus_L_4"/>
+      <geom geom="toe_L_wrapping" sidesite="toe_L_wrapping_forward"/>
+      <site site="m_extensor_digitorum_longus_L_5"/>
+    </spatial>
+    <spatial name="m_tibialis_cranialis_L_tendon" class="muscle">
+      <site site="m_tibialis_cranialis_L_0"/>
+      <site site="m_tibialis_cranialis_L_1"/>
+      <site site="m_tibialis_cranialis_L_2"/>
+      <site site="m_tibialis_cranialis_L_3"/>
+    </spatial>
+    <spatial name="m_sartorius_L(2)_tendon" class="muscle">
+      <site site="m_sartorius_L(2)_0"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_forward"/>
+      <site site="m_sartorius_L(2)_1"/>
+      <site site="m_sartorius_L(2)_2"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_forward"/>
+      <site site="m_sartorius_L(2)_3"/>
+    </spatial>
+    <spatial name="m_peroneus_longus_L_tendon" class="muscle">
+      <site site="m_peroneus_longus_L_0"/>
+      <site site="m_peroneus_longus_L_1"/>
+      <site site="m_peroneus_longus_L_2"/>
+      <site site="m_peroneus_longus_L_3"/>
+    </spatial>
+    <spatial name="m_vastus_lat_ander_fascia_lata_L_tendon" class="muscle">
+      <site site="m_vastus_lat_ander_fascia_lata_L_0"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_forward"/>
+      <site site="m_vastus_lat_ander_fascia_lata_L_1"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_forward"/>
+      <site site="m_vastus_lat_ander_fascia_lata_L_2"/>
+      <site site="m_vastus_lat_ander_fascia_lata_L_3"/>
+    </spatial>
+    <spatial name="m_rectus_femoris_L_tendon" class="muscle">
+      <site site="m_rectus_femoris_L_0"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_forward"/>
+      <site site="m_rectus_femoris_L_1"/>
+      <site site="m_rectus_femoris_L_2"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_forward"/>
+      <site site="m_rectus_femoris_L_3"/>
+    </spatial>
+    <spatial name="m_biceps_femoris_tendon_L_tendon" class="muscle">
+      <site site="m_biceps_femoris_tendon_L_0"/>
+      <site site="m_biceps_femoris_tendon_L_1"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_forward"/>
+      <site site="m_biceps_femoris_tendon_L_2"/>
+      <site site="m_biceps_femoris_tendon_L_3"/>
+    </spatial>
+    <spatial name="m_sartorius_L_tendon" class="muscle">
+      <site site="m_sartorius_L_0"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_forward"/>
+      <site site="m_sartorius_L_1"/>
+      <site site="m_sartorius_L_2"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_forward"/>
+      <site site="m_sartorius_L_3"/>
+      <site site="m_sartorius_L_4"/>
+    </spatial>
+    <spatial name="m_gluteus_superficialis_major_L_tendon" class="muscle">
+      <site site="m_gluteus_superficialis_major_L_0"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_forward"/>
+      <site site="m_gluteus_superficialis_major_L_1"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_forward"/>
+      <site site="m_gluteus_superficialis_major_L_2"/>
+    </spatial>
+    <spatial name="m_extensor_digitorum_lateralis_L_tendon" class="muscle">
+      <site site="m_extensor_digitorum_lateralis_L_0"/>
+      <site site="m_extensor_digitorum_lateralis_L_1"/>
+      <site site="m_extensor_digitorum_lateralis_L_2"/>
+      <site site="m_extensor_digitorum_lateralis_L_3"/>
+      <geom geom="toe_L_wrapping" sidesite="toe_L_wrapping_forward"/>
+      <site site="m_extensor_digitorum_lateralis_L_4"/>
+    </spatial>
+    <spatial name="m_pectineus_L_tendon" class="muscle">
+      <site site="m_pectineus_L_0"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_forward"/>
+      <site site="m_pectineus_L_1"/>
+      <site site="m_pectineus_L_2"/>
+    </spatial>
+    <spatial name="m_extensor_digitorum_longus_R_tendon" class="muscle">
+      <site site="m_extensor_digitorum_longus_R_0"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_forward"/>
+      <site site="m_extensor_digitorum_longus_R_1"/>
+      <site site="m_extensor_digitorum_longus_R_2"/>
+      <site site="m_extensor_digitorum_longus_R_3"/>
+      <site site="m_extensor_digitorum_longus_R_4"/>
+      <geom geom="toe_R_wrapping" sidesite="toe_R_wrapping_forward"/>
+      <site site="m_extensor_digitorum_longus_R_5"/>
+    </spatial>
+    <spatial name="m_tibialis_cranialis_R_tendon" class="muscle">
+      <site site="m_tibialis_cranialis_R_0"/>
+      <site site="m_tibialis_cranialis_R_1"/>
+      <site site="m_tibialis_cranialis_R_2"/>
+      <site site="m_tibialis_cranialis_R_3"/>
+    </spatial>
+    <spatial name="m_sartorius_R(2)_tendon" class="muscle">
+      <site site="m_sartorius_R(2)_0"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_forward"/>
+      <site site="m_sartorius_R(2)_1"/>
+      <site site="m_sartorius_R(2)_2"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_forward"/>
+      <site site="m_sartorius_R(2)_3"/>
+    </spatial>
+    <spatial name="m_peroneus_longus_R_tendon" class="muscle">
+      <site site="m_peroneus_longus_R_0"/>
+      <site site="m_peroneus_longus_R_1"/>
+      <site site="m_peroneus_longus_R_2"/>
+      <site site="m_peroneus_longus_R_3"/>
+    </spatial>
+    <spatial name="m_vastus_lat_ander_fascia_lata_R_tendon" class="muscle">
+      <site site="m_vastus_lat_ander_fascia_lata_R_0"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_forward"/>
+      <site site="m_vastus_lat_ander_fascia_lata_R_1"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_forward"/>
+      <site site="m_vastus_lat_ander_fascia_lata_R_2"/>
+      <site site="m_vastus_lat_ander_fascia_lata_R_3"/>
+    </spatial>
+    <spatial name="m_rectus_femoris_R_tendon" class="muscle">
+      <site site="m_rectus_femoris_R_0"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_forward"/>
+      <site site="m_rectus_femoris_R_1"/>
+      <site site="m_rectus_femoris_R_2"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_forward"/>
+      <site site="m_rectus_femoris_R_3"/>
+    </spatial>
+    <spatial name="m_biceps_femoris_tendon_R_tendon" class="muscle">
+      <site site="m_biceps_femoris_tendon_R_0"/>
+      <site site="m_biceps_femoris_tendon_R_1"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_forward"/>
+      <site site="m_biceps_femoris_tendon_R_2"/>
+      <site site="m_biceps_femoris_tendon_R_3"/>
+    </spatial>
+    <spatial name="m_sartorius_R_tendon" class="muscle">
+      <site site="m_sartorius_R_0"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_forward"/>
+      <site site="m_sartorius_R_1"/>
+      <site site="m_sartorius_R_2"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_forward"/>
+      <site site="m_sartorius_R_3"/>
+      <site site="m_sartorius_R_4"/>
+    </spatial>
+    <spatial name="m_gluteus_superficialis_major_R_tendon" class="muscle">
+      <site site="m_gluteus_superficialis_major_R_0"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_forward"/>
+      <site site="m_gluteus_superficialis_major_R_1"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_forward"/>
+      <site site="m_gluteus_superficialis_major_R_2"/>
+    </spatial>
+    <spatial name="m_extensor_digitorum_lateralis_R_tendon" class="muscle">
+      <site site="m_extensor_digitorum_lateralis_R_0"/>
+      <site site="m_extensor_digitorum_lateralis_R_1"/>
+      <site site="m_extensor_digitorum_lateralis_R_2"/>
+      <site site="m_extensor_digitorum_lateralis_R_3"/>
+      <geom geom="toe_R_wrapping" sidesite="toe_R_wrapping_forward"/>
+      <site site="m_extensor_digitorum_lateralis_R_4"/>
+    </spatial>
+    <spatial name="m_pectineus_R_tendon" class="muscle">
+      <site site="m_pectineus_R_0"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_forward"/>
+      <site site="m_pectineus_R_1"/>
+      <site site="m_pectineus_R_2"/>
+    </spatial>
+    <spatial name="m_flexor_digitorum_superficialis_L.001_tendon" class="muscle">
+      <site site="m_flexor_digitorum_superficialis_L.001_0"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_backward"/>
+      <site site="m_flexor_digitorum_superficialis_L.001_1"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_backward"/>
+      <site site="m_flexor_digitorum_superficialis_L.001_2"/>
+      <site site="m_flexor_digitorum_superficialis_L.001_3"/>
+      <site site="m_flexor_digitorum_superficialis_L.001_4"/>
+    </spatial>
+    <spatial name="m_semitendinosus_L_tendon" class="muscle">
+      <site site="m_semitendinosus_L_0"/>
+      <site site="m_semitendinosus_L_1"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_backward"/>
+      <site site="m_semitendinosus_L_2"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_backward"/>
+      <site site="m_semitendinosus_L_3"/>
+    </spatial>
+    <spatial name="m_adductor_magnus_L_tendon" class="muscle">
+      <site site="m_adductor_magnus_L_0"/>
+      <site site="m_adductor_magnus_L_1"/>
+      <site site="m_adductor_magnus_L_2"/>
+    </spatial>
+    <spatial name="m_gracilis_L_tendon" class="muscle">
+      <site site="m_gracilis_L_0"/>
+      <site site="m_gracilis_L_1"/>
+      <site site="m_gracilis_L_2"/>
+      <site site="m_gracilis_L_3"/>
+    </spatial>
+    <spatial name="m_biceps_femoris_L_tendon" class="muscle">
+      <site site="m_biceps_femoris_L_0"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_backward"/>
+      <site site="m_biceps_femoris_L_1"/>
+      <site site="m_biceps_femoris_L_2"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_backward"/>
+      <site site="m_biceps_femoris_L_3"/>
+      <site site="m_biceps_femoris_L_4"/>
+    </spatial>
+    <spatial name="m_abductor_cruris_L_tendon" class="muscle">
+      <site site="m_abductor_cruris_L_0"/>
+      <geom geom="hip_R_wrapping" sidesite="hip_R_wrapping_backward"/>
+      <site site="m_abductor_cruris_L_1"/>
+      <site site="m_abductor_cruris_L_2"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_backward"/>
+      <site site="m_abductor_cruris_L_3"/>
+      <site site="m_abductor_cruris_L_4"/>
+    </spatial>
+    <spatial name="m_tibialis_caudalis_L_tendon" class="muscle">
+      <site site="m_tibialis_caudalis_L_0"/>
+      <site site="m_tibialis_caudalis_L_1"/>
+      <site site="m_tibialis_caudalis_L_2"/>
+      <site site="m_tibialis_caudalis_L_3"/>
+    </spatial>
+    <spatial name="m_gastrocnemius_L_tendon" class="muscle">
+      <site site="m_gastrocnemius_L_0"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_backward"/>
+      <site site="m_gastrocnemius_L_1"/>
+      <geom geom="knee_L_wrapping" sidesite="knee_L_wrapping_backward"/>
+      <site site="m_gastrocnemius_L_2"/>
+      <site site="m_gastrocnemius_L_3"/>
+      <site site="m_gastrocnemius_L_4"/>
+    </spatial>
+    <spatial name="m_peroneus_brevis_L_tendon" class="muscle">
+      <site site="m_peroneus_brevis_L_0"/>
+      <site site="m_peroneus_brevis_L_1"/>
+      <site site="m_peroneus_brevis_L_2"/>
+      <geom geom="toe_L_wrapping" sidesite="toe_L_wrapping_backward"/>
+      <site site="m_peroneus_brevis_L_3"/>
+    </spatial>
+    <spatial name="m_semimembranosus_L_tendon" class="muscle">
+      <site site="m_semimembranosus_L_0"/>
+      <site site="m_semimembranosus_L_1"/>
+      <site site="m_semimembranosus_L_2"/>
+    </spatial>
+    <spatial name="m_flexor_digitorum_profundus_L(2)_tendon" class="muscle">
+      <site site="m_flexor_digitorum_profundus_L(2)_0"/>
+      <site site="m_flexor_digitorum_profundus_L(2)_1"/>
+      <site site="m_flexor_digitorum_profundus_L(2)_2"/>
+      <site site="m_flexor_digitorum_profundus_L(2)_3"/>
+      <geom geom="toe_L_wrapping" sidesite="toe_L_wrapping_backward"/>
+      <site site="m_flexor_digitorum_profundus_L(2)_4"/>
+      <site site="m_flexor_digitorum_profundus_L(2)_5"/>
+    </spatial>
+    <spatial name="m_flexor_digitorum_superficialis_R_tendon" class="muscle">
+      <site site="m_flexor_digitorum_superficialis_R_0"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_backward"/>
+      <site site="m_flexor_digitorum_superficialis_R_1"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_backward"/>
+      <site site="m_flexor_digitorum_superficialis_R_2"/>
+      <site site="m_flexor_digitorum_superficialis_R_3"/>
+      <site site="m_flexor_digitorum_superficialis_R_4"/>
+    </spatial>
+    <spatial name="m_semitendinosus_R_tendon" class="muscle">
+      <site site="m_semitendinosus_R_0"/>
+      <site site="m_semitendinosus_R_1"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_backward"/>
+      <site site="m_semitendinosus_R_2"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_backward"/>
+      <site site="m_semitendinosus_R_3"/>
+    </spatial>
+    <spatial name="m_adductor_magnus_R_tendon" class="muscle">
+      <site site="m_adductor_magnus_R_0"/>
+      <site site="m_adductor_magnus_R_1"/>
+      <site site="m_adductor_magnus_R_2"/>
+    </spatial>
+    <spatial name="m_gracilis_R_tendon" class="muscle">
+      <site site="m_gracilis_R_0"/>
+      <site site="m_gracilis_R_1"/>
+      <site site="m_gracilis_R_2"/>
+      <site site="m_gracilis_R_3"/>
+    </spatial>
+    <spatial name="m_biceps_femoris_R_tendon" class="muscle">
+      <site site="m_biceps_femoris_R_0"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_backward"/>
+      <site site="m_biceps_femoris_R_1"/>
+      <site site="m_biceps_femoris_R_2"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_backward"/>
+      <site site="m_biceps_femoris_R_3"/>
+      <site site="m_biceps_femoris_R_4"/>
+    </spatial>
+    <spatial name="m_abductor_cruris_R_tendon" class="muscle">
+      <site site="m_abductor_cruris_R_0"/>
+      <geom geom="hip_L_wrapping" sidesite="hip_L_wrapping_backward"/>
+      <site site="m_abductor_cruris_R_1"/>
+      <site site="m_abductor_cruris_R_2"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_backward"/>
+      <site site="m_abductor_cruris_R_3"/>
+      <site site="m_abductor_cruris_R_4"/>
+    </spatial>
+    <spatial name="m_tibialis_caudalis_R_tendon" class="muscle">
+      <site site="m_tibialis_caudalis_R_0"/>
+      <site site="m_tibialis_caudalis_R_1"/>
+      <site site="m_tibialis_caudalis_R_2"/>
+      <site site="m_tibialis_caudalis_R_3"/>
+    </spatial>
+    <spatial name="m_gastrocnemius_R_tendon" class="muscle">
+      <site site="m_gastrocnemius_R_0"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_backward"/>
+      <site site="m_gastrocnemius_R_1"/>
+      <geom geom="knee_R_wrapping" sidesite="knee_R_wrapping_backward"/>
+      <site site="m_gastrocnemius_R_2"/>
+      <site site="m_gastrocnemius_R_3"/>
+      <site site="m_gastrocnemius_R_4"/>
+    </spatial>
+    <spatial name="m_peroneus_brevis_R_tendon" class="muscle">
+      <site site="m_peroneus_brevis_R_0"/>
+      <site site="m_peroneus_brevis_R_1"/>
+      <site site="m_peroneus_brevis_R_2"/>
+      <geom geom="toe_R_wrapping" sidesite="toe_R_wrapping_backward"/>
+      <site site="m_peroneus_brevis_R_3"/>
+    </spatial>
+    <spatial name="m_semimembranosus_R_tendon" class="muscle">
+      <site site="m_semimembranosus_R_0"/>
+      <site site="m_semimembranosus_R_1"/>
+      <site site="m_semimembranosus_R_2"/>
+    </spatial>
+    <spatial name="m_flexor_digitorum_profundus_R(2)_tendon" class="muscle">
+      <site site="m_flexor_digitorum_profundus_R(2)_0"/>
+      <site site="m_flexor_digitorum_profundus_R(2)_1"/>
+      <site site="m_flexor_digitorum_profundus_R(2)_2"/>
+      <site site="m_flexor_digitorum_profundus_R(2)_3"/>
+      <geom geom="toe_R_wrapping" sidesite="toe_R_wrapping_backward"/>
+      <site site="m_flexor_digitorum_profundus_R(2)_4"/>
+      <site site="m_flexor_digitorum_profundus_R(2)_5"/>
+    </spatial>
+    <spatial name="m_longissimus_thoracis_L_tendon" class="muscle">
+      <site site="m_longissimus_thoracis_L_0"/>
+      <geom geom="L_1_wrapping" sidesite="L_1_wrapping_forward"/>
+      <site site="m_longissimus_thoracis_L_1"/>
+      <site site="m_longissimus_thoracis_L_2"/>
+      <site site="m_longissimus_thoracis_L_3"/>
+    </spatial>
+    <spatial name="m_longissimus_capitis_L_tendon" class="muscle">
+      <site site="m_longissimus_capitis_L_0"/>
+      <site site="m_longissimus_capitis_L_1"/>
+      <site site="m_longissimus_capitis_L_2"/>
+      <site site="m_longissimus_capitis_L_3"/>
+      <site site="m_longissimus_capitis_L_4"/>
+      <site site="m_longissimus_capitis_L_5"/>
+      <site site="m_longissimus_capitis_L_6"/>
+    </spatial>
+    <spatial name="m_longissimus_thoracis_R_tendon" class="muscle">
+      <site site="m_longissimus_thoracis_R_0"/>
+      <geom geom="L_1_wrapping" sidesite="L_1_wrapping_forward"/>
+      <site site="m_longissimus_thoracis_R_1"/>
+      <site site="m_longissimus_thoracis_R_2"/>
+      <site site="m_longissimus_thoracis_R_3"/>
+    </spatial>
+    <spatial name="m_longissimus_capitis_R(2)_tendon" class="muscle">
+      <site site="m_longissimus_capitis_R(2)_0"/>
+      <site site="m_longissimus_capitis_R(2)_1"/>
+      <site site="m_longissimus_capitis_R(2)_2"/>
+      <site site="m_longissimus_capitis_R(2)_3"/>
+      <site site="m_longissimus_capitis_R(2)_4"/>
+      <site site="m_longissimus_capitis_R(2)_5"/>
+      <site site="m_longissimus_capitis_R(2)_6"/>
+    </spatial>
+    <spatial name="m_psoas_minor_L_tendon" class="muscle">
+      <site site="m_psoas_minor_L_0"/>
+      <site site="m_psoas_minor_L_1"/>
+      <site site="m_psoas_minor_L_2"/>
+      <site site="m_psoas_minor_L_3"/>
+      <site site="m_psoas_minor_L_4"/>
+      <site site="m_psoas_minor_L_5"/>
+    </spatial>
+    <spatial name="m_obliquus_ext_abdominis_R_tendon" class="muscle">
+      <site site="m_obliquus_ext_abdominis_R_0"/>
+      <site site="m_obliquus_ext_abdominis_R_1"/>
+      <site site="m_obliquus_ext_abdominis_R_2"/>
+      <site site="m_obliquus_ext_abdominis_R_3"/>
+      <site site="m_obliquus_ext_abdominis_R_4"/>
+    </spatial>
+    <spatial name="m_tranversus_abdominis_L_tendon" class="muscle">
+      <site site="m_tranversus_abdominis_L_0"/>
+      <site site="m_tranversus_abdominis_L_1"/>
+      <site site="m_tranversus_abdominis_L_2"/>
+      <site site="m_tranversus_abdominis_L_3"/>
+      <site site="m_tranversus_abdominis_L_4"/>
+    </spatial>
+    <spatial name="m_psoas_major_L_tendon" class="muscle">
+      <site site="m_psoas_major_L_0"/>
+      <site site="m_psoas_major_L_1"/>
+      <site site="m_psoas_major_L_2"/>
+      <site site="m_psoas_major_L_3"/>
+      <site site="m_psoas_major_L_4"/>
+      <site site="m_psoas_major_L_5"/>
+    </spatial>
+    <spatial name="m_obliquus_ext_abdominis_L_tendon" class="muscle">
+      <site site="m_obliquus_ext_abdominis_L_0"/>
+      <site site="m_obliquus_ext_abdominis_L_1"/>
+      <site site="m_obliquus_ext_abdominis_L_2"/>
+      <site site="m_obliquus_ext_abdominis_L_3"/>
+      <site site="m_obliquus_ext_abdominis_L_4"/>
+    </spatial>
+    <spatial name="m_tranversus_abdominis_R_tendon" class="muscle">
+      <site site="m_tranversus_abdominis_R_0"/>
+      <site site="m_tranversus_abdominis_R_1"/>
+      <site site="m_tranversus_abdominis_R_2"/>
+      <site site="m_tranversus_abdominis_R_3"/>
+      <site site="m_tranversus_abdominis_R_4"/>
+    </spatial>
+    <spatial name="m_psoas_major_R_tendon" class="muscle">
+      <site site="m_psoas_major_R_0"/>
+      <site site="m_psoas_major_R_1"/>
+      <site site="m_psoas_major_R_2"/>
+      <site site="m_psoas_major_R_3"/>
+      <site site="m_psoas_major_R_4"/>
+      <site site="m_psoas_major_R_5"/>
+    </spatial>
+    <spatial name="m_psoas_minor_R_tendon" class="muscle">
+      <site site="m_psoas_minor_R_0"/>
+      <site site="m_psoas_minor_R_1"/>
+      <site site="m_psoas_minor_R_2"/>
+      <site site="m_psoas_minor_R_3"/>
+      <site site="m_psoas_minor_R_4"/>
+      <site site="m_psoas_minor_R_5"/>
+    </spatial>
+    <spatial name="m_Ligament_tendon" class="muscle">
+      <site site="m_Ligament_0"/>
+      <geom geom="Ca_1_wrapping" sidesite="Ca_1_wrapping_backward"/>
+      <site site="m_Ligament_1"/>
+      <geom geom="L_5_wrapping" sidesite="L_5_wrapping_forward"/>
+      <site site="m_Ligament_2"/>
+      <geom geom="L_1_wrapping" sidesite="L_1_wrapping_forward"/>
+      <site site="m_Ligament_3"/>
+      <site site="m_Ligament_4"/>
+    </spatial>
+    <spatial name="m_longus_capitis_L_tendon" class="muscle">
+      <site site="m_longus_capitis_L_0"/>
+      <geom geom="C_2_wrapping" sidesite="C_2_wrapping_forward"/>
+      <site site="m_longus_capitis_L_1"/>
+      <site site="m_longus_capitis_L_2"/>
+      <site site="m_longus_capitis_L_3"/>
+    </spatial>
+    <spatial name="m_splenius_L_tendon" class="muscle">
+      <site site="m_splenius_L_0"/>
+      <geom geom="C_2_wrapping" sidesite="C_2_wrapping_backward"/>
+      <site site="m_splenius_L_1"/>
+      <site site="m_splenius_L_2"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_splenius_L_3"/>
+    </spatial>
+    <spatial name="m_sternohyroideus_L_tendon" class="muscle">
+      <site site="m_sternohyroideus_L_0"/>
+      <site site="m_sternohyroideus_L_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_forward"/>
+      <site site="m_sternohyroideus_L_2"/>
+      <site site="m_sternohyroideus_L_3"/>
+    </spatial>
+    <spatial name="m_sternothyroideus_R_tendon" class="muscle">
+      <site site="m_sternothyroideus_R_0"/>
+      <site site="m_sternothyroideus_R_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_forward"/>
+      <site site="m_sternothyroideus_R_2"/>
+      <site site="m_sternothyroideus_R_3"/>
+    </spatial>
+    <spatial name="m_longissimus_cervicis_R_tendon" class="muscle">
+      <site site="m_longissimus_cervicis_R_0"/>
+      <site site="m_longissimus_cervicis_R_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_longissimus_cervicis_R_2"/>
+    </spatial>
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+      <site site="m_rhomboideus_R_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_rhomboideus_R_2"/>
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+      <site site="m_sternocephalicus_L_0"/>
+      <geom geom="C_2_wrapping" sidesite="C_2_wrapping_forward"/>
+      <site site="m_sternocephalicus_L_1"/>
+      <site site="m_sternocephalicus_L_2"/>
+      <site site="m_sternocephalicus_L_3"/>
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+    <spatial name="m_longissimus_capitis_L(2)_tendon" class="muscle">
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+      <geom geom="C_2_wrapping" sidesite="C_2_wrapping_forward"/>
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+      <site site="m_longissimus_capitis_L(2)_2"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_longissimus_capitis_L(2)_3"/>
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+      <site site="m_omotransversarius_L_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_forward"/>
+      <site site="m_omotransversarius_L_2"/>
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+    <spatial name="m_thoracis_serratus_ventr_R_tendon" class="muscle">
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+      <site site="m_thoracis_serratus_ventr_R_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_thoracis_serratus_ventr_R_2"/>
+      <site site="m_thoracis_serratus_ventr_R_3"/>
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+      <site site="m_longissimus_capitis_R_0"/>
+      <geom geom="C_2_wrapping" sidesite="C_2_wrapping_forward"/>
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+      <site site="m_longissimus_capitis_R_2"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_longissimus_capitis_R_3"/>
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+    <spatial name="m_sternocephalicus_R_tendon" class="muscle">
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+      <geom geom="C_2_wrapping" sidesite="C_2_wrapping_forward"/>
+      <site site="m_sternocephalicus_R_1"/>
+      <site site="m_sternocephalicus_R_2"/>
+      <site site="m_sternocephalicus_R_3"/>
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+    <spatial name="m_omotransversarius_R_tendon" class="muscle">
+      <site site="m_omotransversarius_R_0"/>
+      <site site="m_omotransversarius_R_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_forward"/>
+      <site site="m_omotransversarius_R_2"/>
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+    <spatial name="m_thoracis_serratus_ventr_L_tendon" class="muscle">
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+      <site site="m_thoracis_serratus_ventr_L_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_thoracis_serratus_ventr_L_2"/>
+      <site site="m_thoracis_serratus_ventr_L_3"/>
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+    <spatial name="m_longus_capitis_R_tendon" class="muscle">
+      <site site="m_longus_capitis_R_0"/>
+      <geom geom="C_2_wrapping" sidesite="C_2_wrapping_forward"/>
+      <site site="m_longus_capitis_R_1"/>
+      <site site="m_longus_capitis_R_2"/>
+      <site site="m_longus_capitis_R_3"/>
+    </spatial>
+    <spatial name="m_splenius_R_tendon" class="muscle">
+      <site site="m_splenius_R_0"/>
+      <geom geom="C_2_wrapping" sidesite="C_2_wrapping_backward"/>
+      <site site="m_splenius_R_1"/>
+      <site site="m_splenius_R_2"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_splenius_R_3"/>
+    </spatial>
+    <spatial name="m_sternohyroideus_R_tendon" class="muscle">
+      <site site="m_sternohyroideus_R_0"/>
+      <site site="m_sternohyroideus_R_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_forward"/>
+      <site site="m_sternohyroideus_R_2"/>
+      <site site="m_sternohyroideus_R_3"/>
+    </spatial>
+    <spatial name="m_sternothyroideus_L_tendon" class="muscle">
+      <site site="m_sternothyroideus_L_0"/>
+      <site site="m_sternothyroideus_L_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_forward"/>
+      <site site="m_sternothyroideus_L_2"/>
+      <site site="m_sternothyroideus_L_3"/>
+    </spatial>
+    <spatial name="m_longissimus_cervicis_L_tendon" class="muscle">
+      <site site="m_longissimus_cervicis_L_0"/>
+      <site site="m_longissimus_cervicis_L_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_longissimus_cervicis_L_2"/>
+    </spatial>
+    <spatial name="m_rhomboideus_L_tendon" class="muscle">
+      <site site="m_rhomboideus_L_0"/>
+      <site site="m_rhomboideus_L_1"/>
+      <geom geom="C_7_wrapping" sidesite="C_7_wrapping_backward"/>
+      <site site="m_rhomboideus_L_2"/>
+    </spatial>
+    <spatial name="m_levator_caudae_longus_R_tendon" class="muscle">
+      <site site="m_levator_caudae_longus_R_0"/>
+      <site site="m_levator_caudae_longus_R_1"/>
+      <site site="m_levator_caudae_longus_R_2"/>
+      <site site="m_levator_caudae_longus_R_3"/>
+      <site site="m_levator_caudae_longus_R_4"/>
+      <site site="m_levator_caudae_longus_R_5"/>
+      <site site="m_levator_caudae_longus_R_6"/>
+      <site site="m_levator_caudae_longus_R_7"/>
+      <site site="m_levator_caudae_longus_R_8"/>
+    </spatial>
+    <spatial name="m_levator_caudae_brevis_R2_tendon" class="muscle">
+      <site site="m_levator_caudae_brevis_R2_0"/>
+      <site site="m_levator_caudae_brevis_R2_1"/>
+      <site site="m_levator_caudae_brevis_R2_2"/>
+      <site site="m_levator_caudae_brevis_R2_3"/>
+      <site site="m_levator_caudae_brevis_R2_4"/>
+      <site site="m_levator_caudae_brevis_R2_5"/>
+      <site site="m_levator_caudae_brevis_R2_6"/>
+      <site site="m_levator_caudae_brevis_R2_7"/>
+      <site site="m_levator_caudae_brevis_R2_8"/>
+      <site site="m_levator_caudae_brevis_R2_9"/>
+      <site site="m_levator_caudae_brevis_R2_10"/>
+    </spatial>
+    <spatial name="m_depressor_caudae_brevis_R2_tendon" class="muscle">
+      <site site="m_depressor_caudae_brevis_R2_0"/>
+      <site site="m_depressor_caudae_brevis_R2_1"/>
+      <site site="m_depressor_caudae_brevis_R2_2"/>
+      <site site="m_depressor_caudae_brevis_R2_3"/>
+      <site site="m_depressor_caudae_brevis_R2_4"/>
+      <site site="m_depressor_caudae_brevis_R2_5"/>
+      <site site="m_depressor_caudae_brevis_R2_6"/>
+      <site site="m_depressor_caudae_brevis_R2_7"/>
+      <site site="m_depressor_caudae_brevis_R2_8"/>
+      <site site="m_depressor_caudae_brevis_R2_9"/>
+      <site site="m_depressor_caudae_brevis_R2_10"/>
+    </spatial>
+    <spatial name="m_depressor_caudae_brevis_L2_tendon" class="muscle">
+      <site site="m_depressor_caudae_brevis_L2_0"/>
+      <site site="m_depressor_caudae_brevis_L2_1"/>
+      <site site="m_depressor_caudae_brevis_L2_2"/>
+      <site site="m_depressor_caudae_brevis_L2_3"/>
+      <site site="m_depressor_caudae_brevis_L2_4"/>
+      <site site="m_depressor_caudae_brevis_L2_5"/>
+      <site site="m_depressor_caudae_brevis_L2_6"/>
+      <site site="m_depressor_caudae_brevis_L2_7"/>
+      <site site="m_depressor_caudae_brevis_L2_8"/>
+      <site site="m_depressor_caudae_brevis_L2_9"/>
+      <site site="m_depressor_caudae_brevis_L2_10"/>
+    </spatial>
+    <spatial name="m_levator_caudae_brevis_L2_tendon" class="muscle">
+      <site site="m_levator_caudae_brevis_L2_0"/>
+      <site site="m_levator_caudae_brevis_L2_1"/>
+      <site site="m_levator_caudae_brevis_L2_2"/>
+      <site site="m_levator_caudae_brevis_L2_3"/>
+      <site site="m_levator_caudae_brevis_L2_4"/>
+      <site site="m_levator_caudae_brevis_L2_5"/>
+      <site site="m_levator_caudae_brevis_L2_6"/>
+      <site site="m_levator_caudae_brevis_L2_7"/>
+      <site site="m_levator_caudae_brevis_L2_8"/>
+      <site site="m_levator_caudae_brevis_L2_9"/>
+      <site site="m_levator_caudae_brevis_L2_10"/>
+    </spatial>
+    <spatial name="m_depressor_caudae_brevis_L_tendon" class="muscle">
+      <site site="m_depressor_caudae_brevis_L_0"/>
+      <site site="m_depressor_caudae_brevis_L_1"/>
+      <site site="m_depressor_caudae_brevis_L_2"/>
+      <site site="m_depressor_caudae_brevis_L_3"/>
+      <site site="m_depressor_caudae_brevis_L_4"/>
+      <site site="m_depressor_caudae_brevis_L_5"/>
+      <site site="m_depressor_caudae_brevis_L_6"/>
+      <site site="m_depressor_caudae_brevis_L_7"/>
+      <site site="m_depressor_caudae_brevis_L_8"/>
+      <site site="m_depressor_caudae_brevis_L_9"/>
+    </spatial>
+    <spatial name="m_depressor_caudae_brevis_R2(2)_tendon" class="muscle">
+      <site site="m_depressor_caudae_brevis_R2(2)_0"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_1"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_2"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_3"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_4"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_5"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_6"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_7"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_8"/>
+      <site site="m_depressor_caudae_brevis_R2(2)_9"/>
+    </spatial>
+    <spatial name="m_depressor_caudae_brevis_R_tendon" class="muscle">
+      <site site="m_depressor_caudae_brevis_R_0"/>
+      <site site="m_depressor_caudae_brevis_R_1"/>
+      <site site="m_depressor_caudae_brevis_R_2"/>
+      <site site="m_depressor_caudae_brevis_R_3"/>
+      <site site="m_depressor_caudae_brevis_R_4"/>
+      <site site="m_depressor_caudae_brevis_R_5"/>
+      <site site="m_depressor_caudae_brevis_R_6"/>
+      <site site="m_depressor_caudae_brevis_R_7"/>
+      <site site="m_depressor_caudae_brevis_R_8"/>
+      <site site="m_depressor_caudae_brevis_R_9"/>
+    </spatial>
+    <spatial name="m_levator_caudae_longus_L_tendon" class="muscle">
+      <site site="m_levator_caudae_longus_L_0"/>
+      <site site="m_levator_caudae_longus_L_1"/>
+      <site site="m_levator_caudae_longus_L_2"/>
+      <site site="m_levator_caudae_longus_L_3"/>
+      <site site="m_levator_caudae_longus_L_4"/>
+      <site site="m_levator_caudae_longus_L_5"/>
+      <site site="m_levator_caudae_longus_L_6"/>
+      <site site="m_levator_caudae_longus_L_7"/>
+      <site site="m_levator_caudae_longus_L_8"/>
+    </spatial>
+    <spatial name="m_depressor_caudae_brevis_L2(2)_tendon" class="muscle">
+      <site site="m_depressor_caudae_brevis_L2(2)_0"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_1"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_2"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_3"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_4"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_5"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_6"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_7"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_8"/>
+      <site site="m_depressor_caudae_brevis_L2(2)_9"/>
+    </spatial>
+  </tendon>
+
+  <actuator>
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+    <general name="m_omotransversarius_L_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.08574 0.3895" tendon="m_omotransversarius_L_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_thoracis_serratus_ventr_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.2084 0.3629" tendon="m_thoracis_serratus_ventr_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_longissimus_capitis_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.2334 0.3089" tendon="m_longissimus_capitis_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_sternocephalicus_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.2066 0.3774" tendon="m_sternocephalicus_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_omotransversarius_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.08803 0.3892" tendon="m_omotransversarius_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_thoracis_serratus_ventr_L_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.2087 0.3656" tendon="m_thoracis_serratus_ventr_L_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_longus_capitis_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.2236 0.2883" tendon="m_longus_capitis_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_splenius_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.1958 0.349" tendon="m_splenius_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_sternohyroideus_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.1357 0.3535" tendon="m_sternohyroideus_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_sternothyroideus_L_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.1344 0.3341" tendon="m_sternothyroideus_L_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_longissimus_cervicis_L_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.1461 0.2303" tendon="m_longissimus_cervicis_L_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_rhomboideus_L_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.08779 0.2734" tendon="m_rhomboideus_L_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 1500 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_levator_caudae_longus_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.4369 0.4638" tendon="m_levator_caudae_longus_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_levator_caudae_brevis_R2_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.5209 0.5403" tendon="m_levator_caudae_brevis_R2_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_depressor_caudae_brevis_R2_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.527 0.5546" tendon="m_depressor_caudae_brevis_R2_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_depressor_caudae_brevis_L2_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.5272 0.554" tendon="m_depressor_caudae_brevis_L2_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_levator_caudae_brevis_L2_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.5202 0.5404" tendon="m_levator_caudae_brevis_L2_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_depressor_caudae_brevis_L_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.4927 0.5205" tendon="m_depressor_caudae_brevis_L_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_depressor_caudae_brevis_R2(2)_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.4769 0.5004" tendon="m_depressor_caudae_brevis_R2(2)_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_depressor_caudae_brevis_R_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.4923 0.5214" tendon="m_depressor_caudae_brevis_R_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_levator_caudae_longus_L_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.4379 0.4638" tendon="m_levator_caudae_longus_L_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+    <general name="m_depressor_caudae_brevis_L2(2)_tendon" class="muscle" ctrllimited="true" ctrlrange="0 1" lengthrange="0.4774 0.5001" tendon="m_depressor_caudae_brevis_L2(2)_tendon" dyntype="muscle" gaintype="muscle" biastype="muscle" dynprm="0.01 0.04 2 0 0 0 0 0 0 0" gainprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0" biasprm="0.75 1.05 -1 8000 0.5 1.6 1.5 1.3 1.2 0"/>
+  </actuator>
+
+  <sensor>
+    <accelerometer name="accelerometer" site="head"/>
+    <velocimeter name="velocimeter" site="head"/>
+    <gyro name="gyro" site="head"/>
+    <subtreelinvel name="torso_linvel" body="torso"/>
+    <subtreeangmom name="torso_angmom" body="torso"/>
+    <touch name="palm_L" site="palm_L"/>
+    <touch name="palm_R" site="palm_R"/>
+    <touch name="sole_L" site="sole_L"/>
+    <touch name="sole_R" site="sole_R"/>
+    <force name="foot_L" site="foot_anchor_L"/>
+    <force name="foot_R" site="foot_anchor_R"/>
+    <force name="hand_L" site="hand_anchor_L"/>
+    <force name="hand_R" site="hand_anchor_R"/>
+  </sensor>
+
+</mujoco>
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/muscles.py b/dm_control/locomotion/walkers/assets/dog_v2/muscles.py
new file mode 100644
index 00000000..a5f6b23e
--- /dev/null
+++ b/dm_control/locomotion/walkers/assets/dog_v2/muscles.py
@@ -0,0 +1,248 @@
+# Copyright 2024 The dm_control Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ============================================================================
+
+"""Muscle groups for the dog model."""
+
+LATERAL = [
+    "m_abdominis_Aponeurosis",
+    "m_depressor_caudae_brevis_L",
+    "m_depressor_caudae_brevis_L2",
+    "m_depressor_caudae_brevis_L2(2)",
+    "m_depressor_caudae_brevis_R",
+    "m_depressor_caudae_brevis_R2",
+    "m_depressor_caudae_brevis_R2(2)",
+    "m_intercostals_ext_L",
+    "m_intercostals_ext_R",
+    "m_intercostals_int_L",
+    "m_intercostals_int_R",
+    "m_latissimus_dors_L",
+    "m_latissimus_dors_R" "m_levator_caudae_brevis_L",
+    "m_levator_caudae_brevis_L1",
+    "m_levator_caudae_brevis_L2",
+    "m_levator_caudae_brevis_R",
+    "m_levator_caudae_brevis_R1",
+    "m_levator_caudae_brevis_R2",
+    "m_Ligament",
+    "m_longissimus_capitis_L",
+    "m_longissimus_capitis_R(2)",
+    "m_longissimus_thoracis_L",
+    "m_longissimus_thoracis_R",
+    "m_obliquus_ext_abdominis_L",
+    "m_obliquus_ext_abdominis_R",
+    "m_obliquus_int_abdominis_L",
+    "m_obliquus_int_abdominis_R",
+    "m_psoas_major_L",
+    "m_psoas_minor_L",
+    "m_psoas_major_R",
+    "m_psoas_minor_R",
+    "m_rectus_abdominis_R",
+    "m_rectus_abdominis_L",
+    "M_Thoracis_M_Pectoralis_Profundus",
+    "m_transverses_thoracis_L",
+    "m_transverses_thoracis_R",
+    "m_tranversus_abdominis_L",
+    "m_tranversus_abdominis_R",
+]
+
+TO_SKIP = [
+    "m_orbicularis_oculi",
+    "m_Skutulum_L",
+    "m_temporalis_L",
+    "m_zygomaticus_L",
+    "m_masseter_L",
+    "m_orbicularis_oris_L",
+    "m_geniohyoideus_L",
+    "m_caninus_L",
+    "m_levator_labii_sup_L",
+    "m_buccinator_L(2)",
+    "m_buccinator_L",
+    "m_Eye_L",
+    "m_retractor_anguli_oculi_L",
+    "m_pterygoideus_med_L",
+    "m_pterygoideus_lat_L",
+    "m_rectus_capitis_ventr_L",
+    "m_rectus_capitis_lateralis_L",
+    "m_transverses_thoracis_L",
+    "m_rectus_thoracis_L",
+    "m_digastricus_L",
+    "m_Skutulum_R",
+    "m_temporalis_R",
+    "m_zygomaticus_R",
+    "m_masseter_R",
+    "m_orbicularis_oris_R",
+    "m_geniohyoideus_R",
+    "m_caninus_R",
+    "m_levator_labii_sup_R",
+    "m_buccinator_R(2)",
+    "m_buccinator_R",
+    "m_Eye_R",
+    "m_retractor_anguli_oculi_R",
+    "m_pterygoideus_med_R",
+    "m_pterygoideus_lat_R",
+    "m_rectus_capitis_ventr_R",
+    "m_rectus_capitis_lateralis_R",
+    "m_transverses_thoracis_R",
+    "m_rectus_thoracis_R",
+    "m_digastricus_R",
+    "m_flexor_digitorum_superficialis_L",
+]
+
+FLEXORS_BACK = [
+    "m_flexor_digitorum_superficialis_L.001",
+    "m_semitendinosus_L",
+    "m_adductor_magnus_L",
+    "m_gracilis_L",
+    "m_biceps_femoris_L",
+    "m_abductor_cruris_L",
+    "m_tibialis_caudalis_L",
+    "m_gastrocnemius_L",
+    "m_peroneus_brevis_L",
+    "m_semimembranosus_L",
+    "m_flexor_digitorum_profundus_L(2)",
+    "m_flexor_digitorum_superficialis_R",
+    "m_semitendinosus_R",
+    "m_adductor_magnus_R",
+    "m_gracilis_R",
+    "m_biceps_femoris_R",
+    "m_abductor_cruris_R",
+    "m_tibialis_caudalis_R",
+    "m_gastrocnemius_R",
+    "m_peroneus_brevis_R",
+    "m_semimembranosus_R",
+    "m_flexor_digitorum_profundus_R(2)",
+]
+
+FLEXORS_FRONT = [
+    "m_teres_major_L",
+    "m_triceps_brachii_long_L(2)",
+    "m_flexor_capri_radialis_L",
+    "m_triceps_brachii_medial_L",
+    "m_triceps_brachii_long_L",
+    "m_triceps_brachii_lateral_L",
+    "m_tensor_f.antebrachii_L",
+    "m_triceps_brachii_accessory_L",
+    "m_flexor_digitorum_profundus_L",
+    "m_teres_major_R",
+    "m_triceps_brachii_long_R(2)",
+    "m_flexor_capri_radialis_R",
+    "m_triceps_brachii_medial_R",
+    "m_triceps_brachii_long_R",
+    "m_tricepsbrachii_lateral_R",
+    "m_tensor_f.antebrachii_R",
+    "m_triceps_brachii_accessory_R",
+    "m_flexor_digitorum_profundus_R",
+]
+
+EXTENSORS_BACK = [
+    "m_extensor_digitorum_longus_L",
+    "m_tibialis_cranialis_L",
+    "m_sartorius_L(2)",
+    "m_peroneus_longus_L",
+    "m_vastus_lat_ander_fascia_lata_L",
+    "m_rectus_femoris_L",
+    "m_biceps_femoris_tendon_L",
+    "m_sartorius_L",
+    "m_gluteus_superficialis_major_L",
+    "m_extensor_digitorum_lateralis_L",
+    "m_pectineus_L",
+    "m_extensor_digitorum_longus_R",
+    "m_tibialis_cranialis_R",
+    "m_sartorius_R(2)",
+    "m_peroneus_longus_R",
+    "m_vastus_lat_ander_fascia_lata_R",
+    "m_rectus_femoris_R",
+    "m_biceps_femoris_tendon_R",
+    "m_sartorius_R",
+    "m_gluteus_superficialis_major_R",
+    "m_extensor_digitorum_lateralis_R",
+    "m_pectineus_R",
+]
+
+EXTENSORS_FRONT = [
+    "m_biceps_brachii_L",
+    "m_deltoideus_acromialis_L",
+    "m_extensor_digitorum_lat_L",
+    "m_extensor_capri_ulnaris_L",
+    "m_extensor_digitorum_communis_L",
+    "m_subscapularis_L",
+    "m_infraspinatus_L",
+    "m_supraspinatus_L",
+    "m_abductor_pollicis_longus_L",
+    "m_brachialis_L",
+    "m_extensor_capri_radialis_L",
+    "m_biceps_brachii_R",
+    "m_deltoideus_acromialis_R",
+    "m_extensor_digitorum_lat_R",
+    "m_extensor_capri_ulnaris_R",
+    "m_extensor_digitorum_communis_R",
+    "m_subscapularis_R",
+    "m_infraspinatus_R",
+    "m_supraspinatus_R",
+    "m_abductor_pollicis_longus_R",
+    "m_brachialis_R",
+    "m_extensor_capri_radialis_R",
+]
+
+NECK = [
+    "m_Ligament",
+    "m_longus_capitis_L",
+    "m_splenius_L",
+    "m_sternohyroideus_L",
+    "m_sternothyroideus_R",
+    "m_longissimus_cervicis_R",
+    "m_rhomboideus_R",
+    "m_sternocephalicus_L",
+    "m_longissimus_capitis_L(2)",
+    "m_omotransversarius_L",
+    "m_thoracis_serratus_ventr_R",
+    "m_longissimus_capitis_R",
+    "m_sternocephalicus_R",
+    "m_omotransversarius_R",
+    "m_thoracis_serratus_ventr_L",
+    "m_longus_capitis_R",
+    "m_splenius_R",
+    "m_sternohyroideus_R",
+    "m_sternothyroideus_L",
+    "m_longissimus_cervicis_L",
+    "m_rhomboideus_L",
+]
+
+TORSO = [
+    "m_longissimus_thoracis_L",
+    "m_longissimus_capitis_L",
+    "m_longissimus_thoracis_R",
+    "m_longissimus_capitis_R(2)",
+    "m_psoas_minor_L",
+    "m_obliquus_ext_abdominis_R",
+    "m_tranversus_abdominis_L",
+    "m_psoas_major_L",
+    "m_obliquus_ext_abdominis_L",
+    "m_tranversus_abdominis_R",
+    "m_psoas_major_R",
+    "m_psoas_minor_R",
+]
+
+TAIL = [
+    "m_levator_caudae_longus_R",
+    "m_levator_caudae_brevis_R2",
+    "m_depressor_caudae_brevis_R2",
+    "m_depressor_caudae_brevis_L2",
+    "m_levator_caudae_brevis_L2",
+    "m_depressor_caudae_brevis_L",
+    "m_depressor_caudae_brevis_R2(2)",
+    "m_depressor_caudae_brevis_R",
+    "m_levator_caudae_longus_L",
+    "m_depressor_caudae_brevis_L2(2)",
+]
diff --git a/dm_control/locomotion/walkers/assets/dog_v2/utils.py b/dm_control/locomotion/walkers/assets/dog_v2/utils.py
new file mode 100644
index 00000000..f6be2f73
--- /dev/null
+++ b/dm_control/locomotion/walkers/assets/dog_v2/utils.py
@@ -0,0 +1,88 @@
+# Copyright 2023 The dm_control Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or  implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ============================================================================
+
+
+import numpy as np
+
+from dm_control.locomotion.walkers.assets.dog_v2 import muscles as muscles_constants
+
+
+def array_to_string(array):
+    """Converts an array of numbers to a string representation.
+
+    Args:
+        array : The array of numbers to be converted.
+
+    Returns:
+        str: The string representation of the array.
+
+    """
+    return " ".join(["%8g" % num for num in array])
+
+
+def slices2paths(mtu, slices, muscle_length):
+    """Convert slices to paths.
+
+    Args:
+        mtu : The name of the muscle-tendon unit.
+        slices : List of cross-section slices.
+        muscle_length : The length of the muscle.
+
+    Returns:
+        list: List of converted paths.
+    """
+    paths = []
+    for cross_section in slices:
+        if cross_section is not None:
+            path = cross_section.to_3D()
+
+            v = np.array(path.vertices)
+            x_min = np.min(v[:, 0])
+            x_max = np.max(v[:, 0])
+
+            z_min = np.min(v[:, 2])
+            z_max = np.max(v[:, 2])
+
+            y_min = np.min(v[:, 1])
+            y_max = np.max(v[:, 1])
+
+            if mtu in muscles_constants.LATERAL:
+                test = [
+                    path.centroid,
+                    np.array([path.centroid[0], path.centroid[1], z_min]),
+                    np.array([path.centroid[0], path.centroid[1], z_max]),
+                    np.array([path.centroid[0], y_max, path.centroid[2]]),
+                    np.array([path.centroid[0], y_min, path.centroid[2]]),
+                ]
+            else:
+                test = [
+                    path.centroid,
+                    np.array([x_max, path.centroid[1], path.centroid[2]]),
+                    np.array([x_min, path.centroid[1], path.centroid[2]]),
+                    np.array([path.centroid[0], y_max, path.centroid[2]]),
+                    np.array([path.centroid[0], y_min, path.centroid[2]]),
+                ]
+            paths.append(test)
+
+    const = round(muscle_length * 100)
+    if len(paths) > const:
+        indices = np.linspace(start=0, stop=len(paths) - 1, num=const, dtype=int)
+
+    tmp = []
+    for idx in indices:
+        tmp.append(paths[idx])
+
+    paths = tmp
+    return paths
diff --git a/dm_control/locomotion/walkers/dog.py b/dm_control/locomotion/walkers/dog.py
new file mode 100644
index 00000000..795510b1
--- /dev/null
+++ b/dm_control/locomotion/walkers/dog.py
@@ -0,0 +1,149 @@
+
+import abc
+import os
+
+from dm_control import composer
+from dm_control import mjcf
+from dm_control.composer.observation import observable
+from dm_control.locomotion.walkers import legacy_base
+from dm_control.mujoco import wrapper as mj_wrapper
+import numpy as np
+
+_XML_PATH = os.path.join(os.path.dirname(__file__),
+                         'assets/dog_v2/dog{model_version}.xml')
+_WALKER_INVIS_GROUP = 2
+_WALKER_GEOM_GROUP = 5
+
+
+class _DogBase(legacy_base.Walker, metaclass=abc.ABCMeta):
+  """The abstract base class for walkers for the dog model."""
+
+  def _build(self,
+             name='walker',
+             initializer=None):
+    self._mjcf_root = mjcf.from_path(self._xml_path)
+    if name:
+      self._mjcf_root.model = name
+
+    super()._build(initializer=initializer)
+
+  def _build_observables(self):
+    return DogObservables(self)
+
+  @property
+  @abc.abstractmethod
+  def _xml_path(self):
+    raise NotImplementedError
+
+  @property
+  def mjcf_model(self):
+    return self._mjcf_root
+
+  @composer.cached_property
+  def actuators(self):
+    return tuple(self._mjcf_root.find_all('actuator'))
+
+  @composer.cached_property
+  def observable_joints(self):
+    return tuple(self.joints)
+
+  @composer.cached_property
+  def joints(self):
+    return tuple(self._mjcf_root.find_all('joint'))
+
+  @composer.cached_property
+  def root_body(self):
+    return self._mjcf_root.find('body', 'torso')
+
+  @composer.cached_property
+  def head(self):
+    return self._mjcf_root.find('body', 'skull')
+
+  @composer.cached_property
+  def ground_contact_geoms(self):
+    return tuple(self._mjcf_root.find('body', 'foot_L').find_all('geom') +
+                 self._mjcf_root.find('body', 'foot_R').find_all('geom') +
+                 self._mjcf_root.find('body', 'hand_L').find_all('geom') +
+                 self._mjcf_root.find('body', 'hand_R').find_all('geom'))
+
+  @composer.cached_property
+  def egocentric_camera(self):
+    return self._mjcf_root.find('camera', 'x-axis')
+
+  @composer.cached_property
+  def end_effectors(self):
+    return (self._mjcf_root.find('body', 'foot_L'),
+            self._mjcf_root.find('body', 'foot_R'),
+            self._mjcf_root.find('body', 'hand_L'),
+            self._mjcf_root.find('body', 'hand_R'))
+
+  @composer.cached_property
+  def bodies(self):
+    return tuple(self._mjcf_root.find_all('body'))
+
+  @composer.cached_property
+  def mocap_tracking_sites(self):
+    """Collection of markers for mocap tracking."""
+    return tuple(
+        b for b in self._mjcf_root.find_all('site') if "marker" not in b.name)
+
+
+class Dog(_DogBase):
+  """A torque actuated dog walker."""
+
+  @property
+  def _xml_path(self):
+    return _XML_PATH.format(model_version='')
+
+
+class DogMuscleActuated(_DogBase):
+  """A muscle actuated dog walker."""
+
+  @property
+  def _xml_path(self):
+    return _XML_PATH.format(model_version='_muscles_-1_Sigmoid')
+
+
+class DogObservables(legacy_base.WalkerObservables):
+  """Observables for the Dog."""
+
+  @composer.observable
+  def egocentric_camera(self):
+    options = mj_wrapper.MjvOption()
+
+    # Don't render this walker's geoms.
+    options.geomgroup[_WALKER_INVIS_GROUP] = 0
+    return observable.MJCFCamera(self._entity.egocentric_camera,
+                                 width=64, height=64, scene_option=options)
+
+  @composer.observable
+  def head_height(self):
+    return observable.MJCFFeature('xpos', self._entity.head)[2]
+
+  @composer.observable
+  def actuator_activation(self):
+    return observable.MJCFFeature('act',
+                                  self._entity.mjcf_model.find_all('actuator'))
+
+  @composer.observable
+  def appendages_pos(self):
+    """Equivalent to `end_effectors_pos` with the head's position appended."""
+    def relative_pos_in_egocentric_frame(physics):
+      end_effectors_with_head = (
+          self._entity.end_effectors + (self._entity.head,))
+      end_effector = physics.bind(end_effectors_with_head).xpos
+      torso = physics.bind(self._entity.root_body).xpos
+      xmat = np.reshape(physics.bind(self._entity.root_body).xmat, (3, 3))
+      return np.reshape(np.dot(end_effector - torso, xmat), -1)
+    return observable.Generic(relative_pos_in_egocentric_frame)
+
+  @property
+  def proprioception(self):
+    return [
+        self.joints_pos,
+        self.joints_vel,
+        self.body_height,
+        self.actuator_activation,
+        self.appendages_pos,
+        self.world_zaxis
+    ] + self._collect_from_attachments('proprioception')
diff --git a/dm_control/locomotion/walkers/dog_test.py b/dm_control/locomotion/walkers/dog_test.py
new file mode 100644
index 00000000..9d8c3760
--- /dev/null
+++ b/dm_control/locomotion/walkers/dog_test.py
@@ -0,0 +1,58 @@
+"""Tests for the Dog model."""
+
+import io
+from absl import app
+from absl.testing import absltest
+from absl.testing import parameterized
+from dm_control import mjcf
+from dm_control.locomotion.walkers import dog
+from unittest import mock
+import sys
+import os
+# Add the directory containing build_dog.py to sys.path
+sys.path.append(os.path.abspath(os.path.join(
+    os.path.dirname(__file__), 'assets/dog_v2')))
+
+import build_dog  # nopep8
+
+
+class DogTest(parameterized.TestCase):
+
+  @parameterized.parameters([
+      dog.Dog,
+      dog.DogMuscleActuated,
+  ])
+  def test_can_compile_and_step_simulation(self, walker_type):
+    walker = walker_type()
+    physics = mjcf.Physics.from_mjcf_model(walker.mjcf_model)
+    for _ in range(100):
+      physics.step()
+
+  @parameterized.parameters([
+      ("torque_model", ['build_dog.py', '--make_skin=True', '--lengthrange_from_joints=False',
+                        '--use_muscles=False', '--add_markers=True', '--muscle_strength_scale=-1',
+                        '--muscle_dynamics=Sigmoid', '--make_muscles_skin=True',
+                        '--lumbar_dofs_per_vertebra=3']),
+      ("muscle_model", ['build_dog.py', '--make_skin=True', '--lengthrange_from_joints=True',
+                        '--use_muscles=True', '--add_markers=True', '--muscle_strength_scale=-1',
+                        '--muscle_dynamics=Sigmoid', '--make_muscles_skin=True',
+                        '--lumbar_dofs_per_vertebra=3'])
+  ])
+  def test_dog_model_creation(self, name, testargs):
+    with mock.patch('sys.argv', testargs), mock.patch('sys.exit') as mock_exit:
+      # Store the original stdout
+      original_stdout = sys.stdout
+
+      try:
+        # Redirect stdout to capture prints
+        captured_output = io.StringIO()
+        sys.stdout = captured_output
+        app.run(build_dog.main)
+        self.assertTrue(mock_exit.called)
+      finally:
+        # Restore the original stdout
+        sys.stdout = original_stdout
+
+
+if __name__ == '__main__':
+  absltest.main()
diff --git a/dm_control/suite/dog.xml b/dm_control/suite/dog.xml
index 6501f3f6..d9b9e044 100644
--- a/dm_control/suite/dog.xml
+++ b/dm_control/suite/dog.xml
@@ -327,7 +327,7 @@
     <mesh name="humerus_R" file="BONEhumerus_R.stl"/>
     <texture name="skin" type="2d" file="skin_texture.png"/>
     <material name="skin" texture="skin"/>
-    <skin name="skin" file="dog_skin.skn" material="skin"/>
+    <skin name="skin" file="skins/dog_skin.skn" material="skin"/>
     <texture name="tennis_ball" file="tennis_ball.png" gridsize="3 4" gridlayout=".U..LFRB.D.."/>
     <material name="tennis_ball" texture="tennis_ball"/>
   </asset>
diff --git a/dm_control/suite/dog_assets/dog_skin.obj b/dm_control/suite/dog_assets/dog_skin.obj
new file mode 100644
index 00000000..4e3ac128
--- /dev/null
+++ b/dm_control/suite/dog_assets/dog_skin.obj
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\ No newline at end of file
diff --git a/dm_control/suite/dog_assets/dog_skin.skn b/dm_control/suite/dog_assets/dog_skin.skn
deleted file mode 100644
index e56632a5..00000000
Binary files a/dm_control/suite/dog_assets/dog_skin.skn and /dev/null differ
diff --git a/dm_control/suite/dog_assets/muscles/m_Eye_L.stl b/dm_control/suite/dog_assets/muscles/m_Eye_L.stl
new file mode 100644
index 00000000..78bb6dfb
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diff --git a/dm_control/suite/dog_assets/muscles/m_Eye_R.stl b/dm_control/suite/dog_assets/muscles/m_Eye_R.stl
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_Ligament.stl b/dm_control/suite/dog_assets/muscles/m_Ligament.stl
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_Nose.stl b/dm_control/suite/dog_assets/muscles/m_Nose.stl
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_Skutulum_L.stl b/dm_control/suite/dog_assets/muscles/m_Skutulum_L.stl
new file mode 100644
index 00000000..fcb34be1
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diff --git a/dm_control/suite/dog_assets/muscles/m_Skutulum_R.stl b/dm_control/suite/dog_assets/muscles/m_Skutulum_R.stl
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_abdominis_Aponeurosis.stl b/dm_control/suite/dog_assets/muscles/m_abdominis_Aponeurosis.stl
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_abductor_cruris_L.stl b/dm_control/suite/dog_assets/muscles/m_abductor_cruris_L.stl
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_abductor_cruris_R.stl b/dm_control/suite/dog_assets/muscles/m_abductor_cruris_R.stl
new file mode 100644
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Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_abductor_cruris_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_abductor_pollicis_longus_L.stl b/dm_control/suite/dog_assets/muscles/m_abductor_pollicis_longus_L.stl
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_abductor_pollicis_longus_R.stl b/dm_control/suite/dog_assets/muscles/m_abductor_pollicis_longus_R.stl
new file mode 100644
index 00000000..327a32db
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_abductor_pollicis_longus_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_adductor_longus_L.stl b/dm_control/suite/dog_assets/muscles/m_adductor_longus_L.stl
new file mode 100644
index 00000000..150823e4
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_adductor_longus_L.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_adductor_longus_R.stl b/dm_control/suite/dog_assets/muscles/m_adductor_longus_R.stl
new file mode 100644
index 00000000..db428c7f
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_adductor_longus_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_adductor_magnus_L.stl b/dm_control/suite/dog_assets/muscles/m_adductor_magnus_L.stl
new file mode 100644
index 00000000..896c55fd
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_adductor_magnus_L.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_adductor_magnus_R.stl b/dm_control/suite/dog_assets/muscles/m_adductor_magnus_R.stl
new file mode 100644
index 00000000..4c098d62
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_adductor_magnus_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_anconeus_L.stl b/dm_control/suite/dog_assets/muscles/m_anconeus_L.stl
new file mode 100644
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Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_anconeus_L.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_anconeus_R.stl b/dm_control/suite/dog_assets/muscles/m_anconeus_R.stl
new file mode 100644
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Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_anconeus_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_biceps_brachii_L.stl b/dm_control/suite/dog_assets/muscles/m_biceps_brachii_L.stl
new file mode 100644
index 00000000..77a31f5a
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_biceps_brachii_L.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_biceps_brachii_R.stl b/dm_control/suite/dog_assets/muscles/m_biceps_brachii_R.stl
new file mode 100644
index 00000000..a9bd941d
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_biceps_brachii_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_biceps_femoris_L.stl b/dm_control/suite/dog_assets/muscles/m_biceps_femoris_L.stl
new file mode 100644
index 00000000..cdc5d3f1
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_biceps_femoris_L.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_biceps_femoris_R.stl b/dm_control/suite/dog_assets/muscles/m_biceps_femoris_R.stl
new file mode 100644
index 00000000..aef93a45
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_biceps_femoris_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_biceps_femoris_tendon_L.stl b/dm_control/suite/dog_assets/muscles/m_biceps_femoris_tendon_L.stl
new file mode 100644
index 00000000..54d218ed
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_biceps_femoris_tendon_L.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_biceps_femoris_tendon_R.stl b/dm_control/suite/dog_assets/muscles/m_biceps_femoris_tendon_R.stl
new file mode 100644
index 00000000..b12fa360
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_biceps_femoris_tendon_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_brachialis_L.stl b/dm_control/suite/dog_assets/muscles/m_brachialis_L.stl
new file mode 100644
index 00000000..cf609dba
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_brachialis_L.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_brachialis_R.stl b/dm_control/suite/dog_assets/muscles/m_brachialis_R.stl
new file mode 100644
index 00000000..5f1c0fed
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_brachialis_R.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_brachiocephalicus.stl b/dm_control/suite/dog_assets/muscles/m_brachiocephalicus.stl
new file mode 100644
index 00000000..9e076fb2
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_brachiocephalicus.stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_buccinator_L(2).stl b/dm_control/suite/dog_assets/muscles/m_buccinator_L(2).stl
new file mode 100644
index 00000000..6a3f2022
Binary files /dev/null and b/dm_control/suite/dog_assets/muscles/m_buccinator_L(2).stl differ
diff --git a/dm_control/suite/dog_assets/muscles/m_buccinator_L.stl b/dm_control/suite/dog_assets/muscles/m_buccinator_L.stl
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index 00000000..c61824d2
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index 00000000..642d10fb
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diff --git a/dm_control/suite/dog_assets/muscles/m_tibialis_caudalis_L.stl b/dm_control/suite/dog_assets/muscles/m_tibialis_caudalis_L.stl
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new file mode 100644
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new file mode 100644
index 00000000..6b865470
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new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_tranversus_abdominis_L.stl b/dm_control/suite/dog_assets/muscles/m_tranversus_abdominis_L.stl
new file mode 100644
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new file mode 100644
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diff --git a/dm_control/suite/dog_assets/muscles/m_trapezius.stl b/dm_control/suite/dog_assets/muscles/m_trapezius.stl
new file mode 100644
index 00000000..437100f9
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 00000000..a5f5543e
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diff --git a/dm_control/suite/dog_assets/muscles/m_vastus_lat_L.stl b/dm_control/suite/dog_assets/muscles/m_vastus_lat_L.stl
new file mode 100644
index 00000000..169c44fb
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new file mode 100644
index 00000000..cf108c4b
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new file mode 100644
index 00000000..079ca071
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new file mode 100644
index 00000000..5aa69028
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index 00000000..36cbec33
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diff --git a/dm_control/suite/dog_assets/muscles/m_zygomaticus_L.stl b/dm_control/suite/dog_assets/muscles/m_zygomaticus_L.stl
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index 00000000..f8efdbbf
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diff --git a/dm_control/locomotion/walkers/assets/dog_v2/dog_skin.skn b/dm_control/suite/dog_assets/skins/dog_skin.skn
similarity index 81%
rename from dm_control/locomotion/walkers/assets/dog_v2/dog_skin.skn
rename to dm_control/suite/dog_assets/skins/dog_skin.skn
index e11e0264..d18eb5f4 100644
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diff --git a/dm_control/suite/dog_assets/skins/m_Eye_L.skn b/dm_control/suite/dog_assets/skins/m_Eye_L.skn
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index 00000000..412290e1
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index 00000000..633020a1
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diff --git a/dm_control/suite/dog_assets/skins/m_Ligament.skn b/dm_control/suite/dog_assets/skins/m_Ligament.skn
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diff --git a/dm_control/suite/dog_assets/skins/m_Nose.skn b/dm_control/suite/dog_assets/skins/m_Nose.skn
new file mode 100644
index 00000000..39070910
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diff --git a/dm_control/suite/dog_assets/skins/m_Skutulum_L.skn b/dm_control/suite/dog_assets/skins/m_Skutulum_L.skn
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diff --git a/dm_control/suite/dog_assets/skins/m_Skutulum_R.skn b/dm_control/suite/dog_assets/skins/m_Skutulum_R.skn
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/skins/m_abdominis_Aponeurosis.skn b/dm_control/suite/dog_assets/skins/m_abdominis_Aponeurosis.skn
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index 00000000..de466d4a
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diff --git a/dm_control/suite/dog_assets/skins/m_abductor_cruris_L.skn b/dm_control/suite/dog_assets/skins/m_abductor_cruris_L.skn
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/dm_control/suite/dog_assets/skins/m_anconeus_L.skn b/dm_control/suite/dog_assets/skins/m_anconeus_L.skn
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/skins/m_biceps_brachii_L.skn b/dm_control/suite/dog_assets/skins/m_biceps_brachii_L.skn
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new file mode 100644
index 00000000..0bb41d57
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new file mode 100644
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index 00000000..66b4457a
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diff --git a/dm_control/suite/dog_assets/skins/m_brachiocephalicus.skn b/dm_control/suite/dog_assets/skins/m_brachiocephalicus.skn
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/skins/m_buccinator_L(2).skn b/dm_control/suite/dog_assets/skins/m_buccinator_L(2).skn
new file mode 100644
index 00000000..f4e0a858
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index 00000000..1908a0eb
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diff --git a/dm_control/suite/dog_assets/skins/m_capsularis_L.skn b/dm_control/suite/dog_assets/skins/m_capsularis_L.skn
new file mode 100644
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diff --git a/dm_control/suite/dog_assets/skins/m_capsularis_R.skn b/dm_control/suite/dog_assets/skins/m_capsularis_R.skn
new file mode 100644
index 00000000..34f4b1ae
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diff --git a/dm_control/suite/dog_assets/skins/m_coccygeus_L.skn b/dm_control/suite/dog_assets/skins/m_coccygeus_L.skn
new file mode 100644
index 00000000..c37c8bac
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diff --git a/dm_control/suite/dog_assets/skins/m_coccygeus_R.skn b/dm_control/suite/dog_assets/skins/m_coccygeus_R.skn
new file mode 100644
index 00000000..54468963
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diff --git a/dm_control/suite/dog_assets/skins/m_coracobrachialis_L.skn b/dm_control/suite/dog_assets/skins/m_coracobrachialis_L.skn
new file mode 100644
index 00000000..4c12f3a4
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new file mode 100644
index 00000000..c02b1fa6
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diff --git a/dm_control/suite/dog_assets/skins/m_deltoideus_acromialis_L.skn b/dm_control/suite/dog_assets/skins/m_deltoideus_acromialis_L.skn
new file mode 100644
index 00000000..51468c6d
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diff --git a/dm_control/suite/dog_assets/skins/m_deltoideus_acromialis_R.skn b/dm_control/suite/dog_assets/skins/m_deltoideus_acromialis_R.skn
new file mode 100644
index 00000000..b3ebc508
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diff --git a/dm_control/suite/dog_assets/skins/m_deltoideus_scapularis_L.skn b/dm_control/suite/dog_assets/skins/m_deltoideus_scapularis_L.skn
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diff --git a/dm_control/suite/dog_assets/skins/m_pterygoideus_lat_L.skn b/dm_control/suite/dog_assets/skins/m_pterygoideus_lat_L.skn
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index 00000000..125fae01
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index 00000000..14c590db
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index 00000000..9be4fa30
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index 00000000..7d9703ba
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index 00000000..0e816cc5
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index 00000000..5397217a
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index 00000000..6b952e54
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index 00000000..6bee4011
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index 00000000..1de7cdc3
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diff --git a/dm_control/suite/dog_assets/skins/m_rectus_capitis_lateralis_L.skn b/dm_control/suite/dog_assets/skins/m_rectus_capitis_lateralis_L.skn
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index 00000000..2db726fe
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