Scapulohumeral Rhythm in MuJoCo: How to properly model clavicle & scapula kinematics without mesh clipping during 180° flexion? #3453

Mahendrapvl · 2026-08-03T20:10:10Z

Mahendrapvl
Aug 3, 2026

Intro

Hi everyone,
I am building a biomechanical human skeleton model in MuJoCo (XML format) and working on achieving accurate scapulohumeral rhythm during a 180° shoulder flexion cycle.
Current Setup & Issue:
1.Local coordinates for joint origins were extracted from OBJ meshes in Blender (SC joint for clavicle, AC joint for scapula).
2.Clavicle joints pivot at the SC joint (⁠protraction⁠, ⁠elevation⁠, ⁠rotation⁠).
3.Scapula joints pivot at the AC joint (⁠tilt⁠, ⁠winging⁠, ⁠upward_rot⁠).
Problem: During full 180° shoulder flexion, the scapula mesh clips into the ribcage/spine, or the clavicle separates from the sternum.
What is the recommended XML structure or joint/equality constraint setup in MuJoCo to maintain proper scapulohumeral coupling and keep the scapula sliding along the thoracic surface without mesh penetration?
(Note: I am also open to hiring an experienced MuJoCo/biomechanics freelancer for a paid consultation or quick XML fix. Feel free to comment or reach out).

My setup

Mujoco 3.9.0

My question

Problem: During full 180° shoulder flexion, the scapula mesh clips into the ribcage/spine, or the clavicle separates from the sternum.
What is the recommended XML structure or joint/equality constraint setup in MuJoCo to maintain proper scapulohumeral coupling and keep the scapula sliding along the thoracic surface without mesh penetration?
current_shoulder_kinematics.zip

Minimal model and/or code that explain my question

<mesh name="lumbar_5_mesh" file="yoga_meshes/lumbar_5.obj"/>
<mesh name="lumbar_4_mesh" file="yoga_meshes/lumbar_4.obj"/>
<mesh name="lumbar_3_mesh" file="yoga_meshes/lumbar_3.obj"/>
<mesh name="lumbar_2_mesh" file="yoga_meshes/lumbar_2.obj"/>
<mesh name="lumbar_1_mesh" file="yoga_meshes/lumbar_1.obj"/>

<mesh name="thoracic_12_mesh" file="yoga_meshes/thoracic_12.obj"/>
<mesh name="thoracic_11_mesh" file="yoga_meshes/thoracic_11.obj"/>
<mesh name="thoracic_10_mesh" file="yoga_meshes/thoracic_10.obj"/>
<mesh name="thoracic_9_mesh" file="yoga_meshes/thoracic_9.obj"/>
<mesh name="thoracic_8_mesh" file="yoga_meshes/thoracic_8.obj"/>
<mesh name="thoracic_7_mesh" file="yoga_meshes/thoracic_7.obj"/>
<mesh name="thoracic_6_mesh" file="yoga_meshes/thoracic_6.obj"/>
<mesh name="thoracic_5_mesh" file="yoga_meshes/thoracic_5.obj"/>
<mesh name="thoracic_4_mesh" file="yoga_meshes/thoracic_4.obj"/>
<mesh name="thoracic_3_mesh" file="yoga_meshes/thoracic_3.obj"/>
<mesh name="thoracic_2_mesh" file="yoga_meshes/thoracic_2.obj"/>
<mesh name="thoracic_1_mesh" file="yoga_meshes/thoracic_1.obj"/>
<mesh name="thoracic_ribcage_mesh" file="yoga_meshes/thoracic.obj"/>

<mesh name="cervical_7_mesh" file="yoga_meshes/cervical_7.obj"/>
<mesh name="cervical_6_mesh" file="yoga_meshes/cervical_6.obj"/>
<mesh name="cervical_5_mesh" file="yoga_meshes/cervical_5.obj"/>
<mesh name="cervical_4_mesh" file="yoga_meshes/cervical_4.obj"/>
<mesh name="cervical_3_mesh" file="yoga_meshes/cervical_3.obj"/>
<mesh name="cervical_2_mesh" file="yoga_meshes/cervical_2.obj"/>
<mesh name="cervical_1_mesh" file="yoga_meshes/cervical_1.obj"/>

<mesh name="head_mesh" file="yoga_meshes/head.obj"/>

<mesh name="clavicle_r_mesh" file="yoga_meshes/clavicle_r.obj"/>
<mesh name="scapula_r_mesh" file="yoga_meshes/scapula_r.obj"/>
<mesh name="upper_arm_r_mesh" file="yoga_meshes/upper_arm_r.obj"/>
<mesh name="lower_arm_r_mesh" file="yoga_meshes/lower_arm_r.obj"/>
<mesh name="hand_r_mesh" file="yoga_meshes/hand_r.obj"/>
<mesh name="clavicle_l_mesh" file="yoga_meshes/clavicle_l.obj"/>
<mesh name="scapula_l_mesh" file="yoga_meshes/scapula_l.obj"/>
<mesh name="upper_arm_l_mesh" file="yoga_meshes/upper_arm_l.obj"/>
<mesh name="lower_arm_l_mesh" file="yoga_meshes/lower_arm_l.obj"/>
<mesh name="hand_l_mesh" file="yoga_meshes/hand_l.obj"/>
<mesh name="patella_r_mesh" file="yoga_meshes/patella_r.obj"/>
<mesh name="patella_l_mesh" file="yoga_meshes/patella_l.obj"/>

<body name="pelvis" pos="0 0 0"> 
  <inertial pos="-0.85623 0.027999 0.875568" mass="5" diaginertia="0.1 0.1 0.1"/>
  <joint name="pelvis_tilt" type="hinge" pos="-0.85623 0.027999 0.875568" axis="1 0 0" range="-3.1416 3.1416" stiffness="0" damping="1"/>
  <joint name="pelvis_list" type="hinge" pos="-0.85623 0.027999 0.875568" axis="0 1 0" range="-3.1416 3.1416" stiffness="0" damping="1"/>
  <joint name="pelvis_rotation" type="hinge" pos="-0.85623 0.027999 0.875568" axis="0 0 1" range="-3.1416 3.1416" stiffness="0" damping="1"/>
  <geom type="mesh" mesh="pelvis_mesh" pos="0 0 0" mass="0"/>
  
  <body name="thigh_r" pos="0 0 0">
      <inertial pos="-0.77407 0.051252 0.6" mass="3" diaginertia="0.05 0.05 0.05"/>
      <joint name="hip_r_flexion" type="hinge" pos="-0.77407 0.051252 0.798094" axis="1 0 0" range="-0.7854 2.4435" stiffness="0" damping="1" ref="0"/>
      <!-- Изменена ось Y и отзеркален range -->
      <joint name="hip_r_abduction" type="hinge" pos="-0.77407 0.051252 0.798094" axis="0 -1 0" range="-0.7854 1.5708" stiffness="0" damping="1"/>
      <!-- Изменена ось Z -->
      <!-- Изменен нижний лимит ротации с -1.5708 на -1.0472 -->
      <joint name="hip_r_rotation" type="hinge" pos="-0.77407 0.051252 0.798094" axis="0 0 -1" range="-1.0472 1.5708" stiffness="0" damping="1"/>
      <geom type="mesh" mesh="thigh_r_mesh" pos="0 0 0" mass="0"/>
      
      <body name="patella_r" pos="0 0 0">
          <inertial pos="-0.779074 0.072738 0.403414" mass="0.05" diaginertia="0.001 0.001 0.001"/>
          <joint name="patella_r_slide" type="slide" pos="-0.779074 0.072738 0.403414" axis="0 0.2 1" range="-0.04 0.04" stiffness="0" damping="1"/>
          <geom type="mesh" mesh="patella_r_mesh" pos="0 0 0" mass="0"/>
      </body>
        
      <body name="shin_r" pos="0 0 0"> 
          <inertial pos="-0.787221 0.040158 0.2" mass="2" diaginertia="0.02 0.02 0.02"/>
          <joint name="knee_r" type="hinge" pos="-0.787221 0.040158 0.379650" axis="1 0 0" range="-2.7925 0.0873" ref="0" stiffness="0.2" damping="1.5" solimplimit="0.8 0.95 0.01" solreflimit="0.02 1"/>
          <!-- Изменена ось Z и отзеркален range -->
          <joint name="knee_r_rotation" type="hinge" pos="-0.787221 0.040158 0.379650" axis="0 0 -1" range="-0.3491 0.7854" stiffness="0.5" damping="0.8" solimplimit="0.9 0.99 0.01" solreflimit="0.015 1"/>
          <geom type="mesh" mesh="shin_r_mesh" pos="0 0 0" mass="0"/>
          
          <body name="foot_r" pos="0 0 0">
            <joint name="ankle_r_x" pos="-0.778571 0.032277 0.057334" axis="1 0 0" range="-1.0472 0.8727" stiffness="0.2" damping="1"/>
            <!-- Изменена ось Y и отзеркален range -->
            <joint name="ankle_r_y" pos="-0.778571 0.032277 0.057334" axis="0 -1 0" range="-0.8727 0.4363" stiffness="0.2" damping="1"/>
            <geom type="mesh" mesh="foot_r_mesh" pos="0 0 0"/>
            <!-- ... (пальцы остаются без изменений) ... -->

            <body name="toe_big_r" pos="0 0 0">
                <joint name="mtp_1_r" pos="-0.781596 0.159863 0.012673" axis="1 0 0" range="-0.7854 1.7453" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_big_r_mesh" pos="0 0 0"/>
            </body>
            <body name="toe_2_r" pos="0 0 0">
                <joint name="mtp_2_r" pos="-0.764699 0.149315 0.014387" axis="1 0 0" range="-0.7854 1.5708" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_2_r_mesh" pos="0 0 0"/>
            </body>
            <body name="toe_3_r" pos="0 0 0">
                <joint name="mtp_3_r" pos="-0.752745 0.14286 0.014811" axis="1 0 0" range="-0.7854 1.5708" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_3_r_mesh" pos="0 0 0"/>
            </body>
            <body name="toe_4_r" pos="0 0 0">
                <joint name="mtp_4_r" pos="-0.74147 0.131976 0.013122" axis="1 0 0" range="-0.7854 1.5708" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_4_r_mesh" pos="0 0 0"/>
            </body>
            <body name="toe_5_r" pos="0 0 0">
                <joint name="mtp_5_r" pos="-0.729105 0.120747 0.01029" axis="1 0 0" range="-0.7854 1.5708" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_5_r_mesh" pos="0 0 0"/>
            </body>
          </body>
      </body>
  </body>
  
  <body name="thigh_l" pos="0 0 0">
      <inertial pos="-0.928521 0.060161 0.6" mass="3" diaginertia="0.05 0.05 0.05"/>
      <joint name="hip_l_flexion" type="hinge" pos="-0.928521 0.060161 0.795412" axis="1 0 0" range="-0.7854 2.4435" stiffness="0" damping="1" ref="0"/>
      <joint name="hip_l_abduction" type="hinge" pos="-0.928521 0.060161 0.795412" axis="0 1 0" range="-0.7854 1.5708" stiffness="0" damping="1"/>
      <!-- Изменен нижний лимит ротации с -1.5708 на -1.0472 -->
      <joint name="hip_l_rotation" type="hinge" pos="-0.928521 0.060161 0.795412" axis="0 0 1" range="-1.0472 1.5708" stiffness="0" damping="1"/>
      <geom type="mesh" mesh="thigh_l_mesh" pos="0 0 0" mass="0"/>
      
      <body name="patella_l" pos="0 0 0">
          <inertial pos="-0.908124 0.080494 0.401417" mass="0.05" diaginertia="0.001 0.001 0.001"/>
          <joint name="patella_l_slide" type="slide" pos="-0.908124 0.080494 0.401417" axis="0 0.2 1" range="-0.04 0.04" stiffness="0" damping="1"/>
          <geom type="mesh" mesh="patella_l_mesh" pos="0 0 0" mass="0"/>
      </body>
        
      <body name="shin_l" pos="0 0 0"> 
          <inertial pos="-0.916515 0.046420 0.2" mass="2" diaginertia="0.02 0.02 0.02"/>
          <joint name="knee_l" type="hinge" pos="-0.916515 0.046420 0.378979" axis="1 0 0" range="-2.7925 0.0873" ref="0" stiffness="0.2" damping="1.5" solimplimit="0.8 0.95 0.01" solreflimit="0.02 1"/>
          <joint name="knee_l_rotation" type="hinge" pos="-0.916515 0.046420 0.378979" axis="0 0 1" range="-0.7854 0.3491" stiffness="0.5" damping="0.8" solimplimit="0.9 0.99 0.01" solreflimit="0.015 1"/>
          <geom type="mesh" mesh="shin_l_mesh" pos="0 0 0" mass="0"/>
          
          <body name="foot_l" pos="0 0 0"> 
            <joint name="ankle_l_x" pos="-0.899916 0.039802 0.056454" axis="1 0 0" range="-1.0472 0.8727" stiffness="0.2" damping="1"/>
            <joint name="ankle_l_y" pos="-0.899916 0.039802 0.056454" axis="0 1 0" range="-0.8727 0.4363" stiffness="0.2" damping="1"/>
            <geom type="mesh" mesh="foot_l_mesh" pos="0 0 0"/>

            <body name="toe_big_l" pos="0 0 0">
                <joint name="mtp_1_l" pos="-0.883328 0.165192 0.010651" axis="1 0 0" range="-0.7854 1.7453" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_big_l_mesh" pos="0 0 0"/>
            </body>
            <body name="toe_2_l" pos="0 0 0">
                <joint name="mtp_2_l" pos="-0.900888 0.157211 0.012357" axis="1 0 0" range="-0.7854 1.5708" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_2_l_mesh" pos="0 0 0"/>
            </body>
            <body name="toe_3_l" pos="0 0 0">
                <joint name="mtp_3_l" pos="-0.913603 0.151916 0.011933" axis="1 0 0" range="-0.7854 1.5708" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_3_l_mesh" pos="0 0 0"/>
            </body>
            <body name="toe_4_l" pos="0 0 0">
                <joint name="mtp_4_l" pos="-0.926451 0.142975 0.010374" axis="1 0 0" range="-0.7854 1.5708" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_4_l_mesh" pos="0 0 0"/>
            </body>
            <body name="toe_5_l" pos="0 0 0">
                <joint name="mtp_5_l" pos="-0.939936 0.13326 0.006146" axis="1 0 0" range="-0.7854 1.5708" stiffness="0.1" damping="1"/>
                <geom type="mesh" mesh="toe_5_l_mesh" pos="0 0 0"/>
            </body>
          </body>
      </body>
  </body>

  <!-- Поясничный отдел -->
  <body name="lumbar_5" pos="0 0 0">
    <inertial pos="-0.853608 0.033764 0.881757" mass="0.15" diaginertia="0.001 0.001 0.001"/>
    <joint name="L5_x" type="hinge" pos="-0.853608 0.033764 0.881757" axis="1 0 0" range="-0.2618 0.2618"/>
    <joint name="L5_y" type="hinge" pos="-0.853608 0.033764 0.881757" axis="0 1 0" range="-0.0873 0.0873"/>
    <joint name="L5_z" type="hinge" pos="-0.853608 0.033764 0.881757" axis="0 0 1" range="-0.0873 0.0873"/>
    <geom type="mesh" mesh="lumbar_5_mesh" pos="0 0 0" mass="0"/>
    
    <body name="lumbar_4" pos="0 0 0">
      <inertial pos="-0.853403 0.04771 0.91196" mass="0.15" diaginertia="0.001 0.001 0.001"/>
      <joint name="L4_x" type="hinge" pos="-0.853403 0.04771 0.91196" axis="1 0 0" range="-0.2094 0.2269"/>
      <joint name="L4_y" type="hinge" pos="-0.853403 0.04771 0.91196" axis="0 1 0" range="-0.1222 0.1222"/>
      <joint name="L4_z" type="hinge" pos="-0.853403 0.04771 0.91196" axis="0 0 1" range="-0.0524 0.0524"/>
      <geom type="mesh" mesh="lumbar_4_mesh" pos="0 0 0" mass="0"/>

      <body name="lumbar_3" pos="0 0 0">
        <inertial pos="-0.853118 0.057309 0.947268" mass="0.15" diaginertia="0.001 0.001 0.001"/>
        <joint name="L3_x" type="hinge" pos="-0.853118 0.057309 0.947268" axis="1 0 0" range="-0.1745 0.2094"/>
        <joint name="L3_y" type="hinge" pos="-0.853118 0.057309 0.947268" axis="0 1 0" range="-0.1396 0.1396"/>
        <joint name="L3_z" type="hinge" pos="-0.853118 0.057309 0.947268" axis="0 0 1" range="-0.0524 0.0524"/>
        <geom type="mesh" mesh="lumbar_3_mesh" pos="0 0 0" mass="0"/>

        <body name="lumbar_2" pos="0 0 0">
          <inertial pos="-0.853804 0.053369 0.98502" mass="0.15" diaginertia="0.001 0.001 0.001"/>
          <joint name="L2_x" type="hinge" pos="-0.853804 0.053369 0.98502" axis="1 0 0" range="-0.1745 0.1920"/>
          <joint name="L2_y" type="hinge" pos="-0.853804 0.053369 0.98502" axis="0 1 0" range="-0.1222 0.1222"/>
          <joint name="L2_z" type="hinge" pos="-0.853804 0.053369 0.98502" axis="0 0 1" range="-0.0524 0.0524"/>
          <geom type="mesh" mesh="lumbar_2_mesh" pos="0 0 0" mass="0"/>

          <body name="lumbar_1" pos="0 0 0">
            <inertial pos="-0.855189 0.045029 1.01743" mass="0.15" diaginertia="0.001 0.001 0.001"/>
            <joint name="L1_x" type="hinge" pos="-0.855189 0.045029 1.01743" axis="1 0 0" range="-0.1571 0.1745"/>
            <joint name="L1_y" type="hinge" pos="-0.855189 0.045029 1.01743" axis="0 1 0" range="-0.1047 0.1047"/>
            <joint name="L1_z" type="hinge" pos="-0.855189 0.045029 1.01743" axis="0 0 1" range="-0.0524 0.0524"/>
            <geom type="mesh" mesh="lumbar_1_mesh" pos="0 0 0" mass="0"/>

            <!-- Грудной отдел -->
            <body name="Bone_T12" pos="0 0 0">
              <inertial pos="-0.857194 0.027512 1.04647" mass="0.1" diaginertia="0.001 0.001 0.001"/>
              <joint name="T12_x" type="hinge" pos="-0.857194 0.027512 1.04647" axis="1 0 0" range="-0.1222 0.1396"/>
              <joint name="T12_y" type="hinge" pos="-0.857194 0.027512 1.04647" axis="0 1 0" range="-0.1571 0.1571"/>
              <joint name="T12_z" type="hinge" pos="-0.857194 0.027512 1.04647" axis="0 0 1" range="-0.1222 0.1222"/>
              <geom type="mesh" mesh="thoracic_12_mesh" pos="0 0 0" mass="0"/>

              <body name="Bone_T11" pos="0 0 0">
                <inertial pos="-0.857828 0.014595 1.07474" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                <joint name="T11_x" type="hinge" pos="-0.857828 0.014595 1.07474" axis="1 0 0" range="-0.1047 0.1047"/>
                <joint name="T11_y" type="hinge" pos="-0.857828 0.014595 1.07474" axis="0 1 0" range="-0.1222 0.1222"/>
                <joint name="T11_z" type="hinge" pos="-0.857828 0.014595 1.07474" axis="0 0 1" range="-0.1396 0.1396"/>
                <geom type="mesh" mesh="thoracic_11_mesh" pos="0 0 0" mass="0"/>

                <body name="Bone_T10" pos="0 0 0">
                  <inertial pos="-0.858788 0.001949 1.10043" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                  <joint name="T10_x" type="hinge" pos="-0.858788 0.001949 1.10043" axis="1 0 0" range="-0.1047 0.0698"/>
                  <joint name="T10_y" type="hinge" pos="-0.858788 0.001949 1.10043" axis="0 1 0" range="-0.1047 0.1047"/>
                  <joint name="T10_z" type="hinge" pos="-0.858788 0.001949 1.10043" axis="0 0 1" range="-0.1571 0.1571"/>
                  <geom type="mesh" mesh="thoracic_10_mesh" pos="0 0 0" mass="0"/>

                  <body name="Bone_T9" pos="0 0 0">
                    <inertial pos="-0.860845 -0.006877 1.12607" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                    <joint name="T9_x" type="hinge" pos="-0.860845 -0.006877 1.12607" axis="1 0 0" range="-0.0873 0.0698"/>
                    <joint name="T9_y" type="hinge" pos="-0.860845 -0.006877 1.12607" axis="0 1 0" range="-0.1047 0.1047"/>
                    <joint name="T9_z" type="hinge" pos="-0.860845 -0.006877 1.12607" axis="0 0 1" range="-0.1920 0.1920"/>
                    <geom type="mesh" mesh="thoracic_9_mesh" pos="0 0 0" mass="0"/>

                    <body name="Bone_T8" pos="0 0 0">
                      <inertial pos="-0.86142 -0.014109 1.14954" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                      <joint name="T8_x" type="hinge" pos="-0.86142 -0.014109 1.14954" axis="1 0 0" range="-0.0873 0.0698"/>
                      <joint name="T8_y" type="hinge" pos="-0.86142 -0.014109 1.14954" axis="0 1 0" range="-0.1047 0.1047"/>
                      <joint name="T8_z" type="hinge" pos="-0.86142 -0.014109 1.14954" axis="0 0 1" range="-0.1920 0.1920"/>
                      <geom type="mesh" mesh="thoracic_8_mesh" pos="0 0 0" mass="0"/>

                      <body name="Bone_T7" pos="0 0 0">
                        <inertial pos="-0.861839 -0.018293 1.17557" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                        <joint name="T7_x" type="hinge" pos="-0.861839 -0.018293 1.17557" axis="1 0 0" range="-0.0873 0.0524"/>
                        <joint name="T7_y" type="hinge" pos="-0.861839 -0.018293 1.17557" axis="0 1 0" range="-0.1047 0.1047"/>
                        <joint name="T7_z" type="hinge" pos="-0.861839 -0.018293 1.17557" axis="0 0 1" range="-0.1920 0.1920"/>
                        <geom type="mesh" mesh="thoracic_7_mesh" pos="0 0 0" mass="0"/>

                        <!-- ВРЕМЕННАЯ ГРУДНАЯ КЛЕТКА ДЛЯ ТЕСТОВ -->
                        <geom type="mesh" mesh="thoracic_ribcage_mesh" pos="0 0 0" mass="0" rgba="0.8 0.9 0.8 0.5" contype="0" conaffinity="0"/>
                        

                        <body name="Bone_T6" pos="0 0 0">
                          <inertial pos="-0.861748 -0.018547 1.2004" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                          <joint name="T6_x" type="hinge" pos="-0.861748 -0.018547 1.2004" axis="1 0 0" range="-0.0698 0.0349"/>
                          <joint name="T6_y" type="hinge" pos="-0.861748 -0.018547 1.2004" axis="0 1 0" range="-0.1047 0.1047"/>
                          <joint name="T6_z" type="hinge" pos="-0.861748 -0.018547 1.2004" axis="0 0 1" range="-0.1920 0.1920"/>
                          <geom type="mesh" mesh="thoracic_6_mesh" pos="0 0 0" mass="0"/>

                          <body name="Bone_T5" pos="0 0 0">
                            <inertial pos="-0.861694 -0.016271 1.22064" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                            <joint name="T5_x" type="hinge" pos="-0.861694 -0.016271 1.22064" axis="1 0 0" range="-0.0698 0.0349"/>
                            <joint name="T5_y" type="hinge" pos="-0.861694 -0.016271 1.22064" axis="0 1 0" range="-0.1047 0.1047"/>
                            <joint name="T5_z" type="hinge" pos="-0.861694 -0.016271 1.22064" axis="0 0 1" range="-0.1920 0.1920"/>
                            <geom type="mesh" mesh="thoracic_5_mesh" pos="0 0 0" mass="0"/>

                            <body name="Bone_T4" pos="0 0 0">
                              <inertial pos="-0.861912 -0.011264 1.23788" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                              <joint name="T4_x" type="hinge" pos="-0.861912 -0.011264 1.23788" axis="1 0 0" range="-0.0698 0.0349"/>
                              <joint name="T4_y" type="hinge" pos="-0.861912 -0.011264 1.23788" axis="0 1 0" range="-0.0873 0.0873"/>
                              <joint name="T4_z" type="hinge" pos="-0.861912 -0.011264 1.23788" axis="0 0 1" range="-0.1920 0.1920"/>
                              <geom type="mesh" mesh="thoracic_4_mesh" pos="0 0 0" mass="0"/>

                              <body name="Bone_T3" pos="0 0 0">
                                <inertial pos="-0.861917 -0.006483 1.25531" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                                <joint name="T3_x" type="hinge" pos="-0.861917 -0.006483 1.25531" axis="1 0 0" range="-0.0524 0.0349"/>
                                <joint name="T3_y" type="hinge" pos="-0.861917 -0.006483 1.25531" axis="0 1 0" range="-0.0873 0.0873"/>
                                <joint name="T3_z" type="hinge" pos="-0.861917 -0.006483 1.25531" axis="0 0 1" range="-0.2094 0.2094"/>
                                <geom type="mesh" mesh="thoracic_3_mesh" pos="0 0 0" mass="0"/>

                                <body name="Bone_T2" pos="0 0 0">
                                  <inertial pos="-0.861759 0.000788 1.2729" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                                  <joint name="T2_x" type="hinge" pos="-0.861759 0.000788 1.2729" axis="1 0 0" range="-0.0524 0.0349"/>
                                  <joint name="T2_y" type="hinge" pos="-0.861759 0.000788 1.2729" axis="0 1 0" range="-0.0873 0.0873"/>
                                  <joint name="T2_z" type="hinge" pos="-0.861759 0.000788 1.2729" axis="0 0 1" range="-0.2443 0.2443"/>
                                  <geom type="mesh" mesh="thoracic_2_mesh" pos="0 0 0" mass="0"/>

                                  <body name="Bone_T1" pos="0 0 0">
                                    <inertial pos="-0.861584 0.009667 1.28743" mass="0.1" diaginertia="0.001 0.001 0.001"/>
                                    <joint name="T1_x" type="hinge" pos="-0.861584 0.009667 1.28743" axis="1 0 0" range="-0.0524 0.0524"/>
                                    <joint name="T1_y" type="hinge" pos="-0.861584 0.009667 1.28743" axis="0 1 0" range="-0.0873 0.0873"/>
                                    <joint name="T1_z" type="hinge" pos="-0.861584 0.009667 1.28743" axis="0 0 1" range="-0.1745 0.1745"/>
                                    <geom type="mesh" mesh="thoracic_1_mesh" pos="0 0 0" mass="0"/>

        <!-- Руки, привязанные к T1 -->
        <body name="clavicle_r" pos="0 0 0">
        <inertial pos="-0.836902 0.064927 1.25858" mass="1" diaginertia="0.01 0.01 0.01"/>
                                      
        <!-- 1. Протракция / Ретракция (Центр: Грудина) -->
        <joint name="clavicle_r_protraction" type="hinge" pos="-0.838021 0.063867 1.25972" axis="0 0 1" range="-0.61 0.20" stiffness="0" damping="2" />
        <!-- 2. Элевация / Депрессия (Центр: Грудина) -->
        <joint name="clavicle_r_elevation" type="hinge" pos="-0.838021 0.063867 1.25972" axis="0 -1 0" range="-0.15 0.87" stiffness="0" damping="2" />
        <!-- 3. Осевая ротация назад (Центр: Грудина) -->
        <joint name="clavicle_r_rotation" type="hinge" pos="-0.838021 0.063867 1.25972" axis="-1 0 0" range="-0.26 0.87" stiffness="0" damping="2" />
                                      
        <geom type="mesh" mesh="clavicle_r_mesh" pos="0 0 0" mass="0"/>
                                      
        <body name="scapula_r" pos="0 0 0">
            <inertial pos="-0.702675 0.023369 1.25919" mass="1" diaginertia="0.01 0.01 0.01"/>
            
            <!-- Все движения лопатки строго из одной точки на конце ключицы (AC joint) -->
            <joint name="scapula_r_tilt" type="hinge" pos="-0.702417 0.025386 1.25999" axis="1 0 0" range="-0.15 0.0" stiffness="0" damping="2"/>
            <joint name="scapula_r_winging" type="hinge" pos="-0.702417 0.025386 1.25999" axis="0 0 1" range="-0.5 0.5" stiffness="0" damping="2"/>
            <joint name="scapula_r_upward_rot" type="hinge" pos="-0.702417 0.025386 1.25999" axis="0 -1 0" range="-0.5 1.0" stiffness="0" damping="2"/>
            
            <geom type="mesh" mesh="scapula_r_mesh" pos="0 0 0" mass="0"/>

   <!-- body остается без изменений, кинематика не страдает -->
    <body name="upper_arm_r">
        <inertial pos="-0.713142 0.007852 1.08609" mass="2" diaginertia="0.02 0.02 0.02"/>
        
        <joint name="shoulder_r_flexion" type="hinge" pos="-0.713142 0.020662 1.22909" axis="1 0 0" range="-1.05 3.1416" stiffness="0" damping="2"/>
        <joint name="shoulder_r_abduction" type="hinge" pos="-0.713142 0.020662 1.22909" axis="0 -1 0" range="-0.70 2.09" stiffness="0" damping="2"/>
        <joint name="shoulder_r_rotation" type="hinge" pos="-0.713142 0.020662 1.22909" axis="0 0 -1" range="-1.57 1.75" stiffness="0" damping="2"/>
        
        <!-- СДВИГАЕМ ТОЛЬКО 3D-МОДЕЛЬ КОСТИ (на 1 мм внутрь) -->
        <geom type="mesh" mesh="upper_arm_r_mesh" pos="-0.001 0 0" mass="0"/>
        
        <body name="lower_arm_r" pos="0 0 0">
            <inertial pos="-0.678983 0.023413 0.826804" mass="1" diaginertia="0.01 0.01 0.01"/>
            <joint name="elbow_r" type="hinge" pos="-0.678983 0.023413 0.926804" axis="1 0 0" range="-2.6180 0" ref="0"/>
            <geom type="mesh" mesh="lower_arm_r_mesh" pos="0 0 0" mass="0"/>
            <body name="hand_r" pos="0 0 0">
                <inertial pos="-0.662301 0.052462 0.667425" mass="0.5" diaginertia="0.005 0.005 0.005"/>
                <joint name="wrist_r" type="ball" pos="-0.662301 0.052462 0.717425" ref="0"/>
                <geom type="mesh" mesh="hand_r_mesh" pos="0 0 0" mass="0"/>
                                            </body>
                                          </body>
                                        </body>
                                      </body>
                                    </body>

    <body name="clavicle_l" pos="0 0 0">
        <inertial pos="-0.877298 0.064927 1.25858" mass="1" diaginertia="0.01 0.01 0.01"/>
                                          
        <!-- 1. Протракция / Ретракция (Центр: Грудина) -->
        <joint name="clavicle_l_protraction" type="hinge" pos="-0.877661 0.067249 1.25928" axis="0 0 -1" range="-0.61 0.20" stiffness="0" damping="2" />
        <!-- 2. Элевация / Депрессия (Центр: Грудина) -->
        <joint name="clavicle_l_elevation" type="hinge" pos="-0.877661 0.067249 1.25928" axis="0 1 0" range="-0.15 0.87" stiffness="0" damping="2" />
        <!-- 3. Осевая ротация назад (Центр: Грудина) -->
        <joint name="clavicle_l_rotation" type="hinge" pos="-0.877661 0.067249 1.25928" axis="-1 0 0" range="-0.26 0.87" stiffness="0" damping="2" />
                                          
        <geom type="mesh" mesh="clavicle_l_mesh" pos="0 0 0" mass="0"/>
                                          
        <body name="scapula_l" pos="0 0 0">
            <inertial pos="-1.011525 0.023369 1.25919" mass="1" diaginertia="0.01 0.01 0.01"/>
            
            <!-- Все движения лопатки строго из одной точки на конце ключицы (AC joint) -->
            <joint name="scapula_l_tilt" type="hinge" pos="-1.01657 0.044621 1.25486" axis="1 0 0" range="-0.15 0.0" stiffness="0" damping="2" />
            <joint name="scapula_l_winging" type="hinge" pos="-1.01657 0.044621 1.25486" axis="0 0 -1" range="-0.5 0.5" stiffness="0" damping="2" />
            <joint name="scapula_l_upward_rot" type="hinge" pos="-1.01657 0.044621 1.25486" axis="0 1 0" range="-0.5 1.0" stiffness="0" damping="2" />
            
            <geom type="mesh" mesh="scapula_l_mesh" pos="0 0 0" mass="0"/>

<body name="upper_arm_l" pos="0 0 0">
        <inertial pos="-1.0097 0.007852 1.08609" mass="2" diaginertia="0.02 0.02 0.02"/>
        
        <!-- Идеальный центр левой впадины. Высота 1.223 -->
        <joint name="shoulder_l_flexion" type="hinge" pos="-1.018 0.038 1.223" axis="1 0 0" range="-1.05 3.1416" stiffness="0" damping="2"/>
        <joint name="shoulder_l_abduction" type="hinge" pos="-1.018 0.038 1.223" axis="0 1 0" range="-0.70 2.09" stiffness="0" damping="2"/>
        <joint name="shoulder_l_rotation" type="hinge" pos="-1.018 0.038 1.223" axis="0 0 1" range="-1.57 1.75" stiffness="0" damping="2"/>
        
        <geom type="mesh" mesh="upper_arm_l_mesh" pos="0 0 0" mass="0"/>

        <body name="lower_arm_l" pos="0 0 0">
            <inertial pos="-1.02871 0.043215 0.820906" mass="1" diaginertia="0.01 0.01 0.01"/>
            <joint name="elbow_l" type="hinge" pos="-1.02871 0.043215 0.920906" axis="1 0 0" range="-2.6180 0" ref="0"/>
            <geom type="mesh" mesh="lower_arm_l_mesh" pos="0 0 0" mass="0"/>
            <body name="hand_l" pos="0 0 0">
                <inertial pos="-1.03749 0.074983 0.662043" mass="0.5" diaginertia="0.005 0.005 0.005"/>
                <joint name="wrist_l" type="ball" pos="-1.03749 0.074983 0.712043" ref="0"/>
                <geom type="mesh" mesh="hand_l_mesh" pos="0 0 0" mass="0"/>
                                            </body>
                                          </body>
                                        </body>
                                      </body>
                                    </body>

                                    <!-- Шейный отдел -->
                                    <body name="cervical_7" pos="0 0 0">
                                      <inertial pos="-0.861353 0.018162 1.30171" mass="0.05" diaginertia="0.001 0.001 0.001"/>
                                      <joint name="C7_x" type="hinge" pos="-0.861353 0.018162 1.30171" axis="1 0 0" range="-0.1047 0.0873"/>
                                      <joint name="C7_y" type="hinge" pos="-0.861353 0.018162 1.30171" axis="0 1 0" range="-0.0873 0.0873"/>
                                      <joint name="C7_z" type="hinge" pos="-0.861353 0.018162 1.30171" axis="0 0 1" range="-0.0873 0.0873"/>
                                      <geom type="mesh" mesh="cervical_7_mesh" pos="0 0 0" mass="0"/>

                                      <body name="cervical_6" pos="0 0 0">
                                        <inertial pos="-0.861223 0.023894 1.3156" mass="0.05" diaginertia="0.001 0.001 0.001"/>
                                        <joint name="C6_x" type="hinge" pos="-0.861223 0.023894 1.3156" axis="1 0 0" range="-0.1396 0.1222"/>
                                        <joint name="C6_y" type="hinge" pos="-0.861223 0.023894 1.3156" axis="0 1 0" range="-0.1047 0.1047"/>
                                        <joint name="C6_z" type="hinge" pos="-0.861223 0.023894 1.3156" axis="0 0 1" range="-0.1222 0.1222"/>
                                        <geom type="mesh" mesh="cervical_6_mesh" pos="0 0 0" mass="0"/>

                                        <body name="cervical_5" pos="0 0 0">
                                          <inertial pos="-0.860783 0.028695 1.33082" mass="0.05" diaginertia="0.001 0.001 0.001"/>
                                          <joint name="C5_x" type="hinge" pos="-0.860783 0.028695 1.33082" axis="1 0 0" range="-0.1745 0.1396"/>
                                          <joint name="C5_y" type="hinge" pos="-0.860783 0.028695 1.33082" axis="0 1 0" range="-0.1222 0.1222"/>
                                          <joint name="C5_z" type="hinge" pos="-0.860783 0.028695 1.33082" axis="0 0 1" range="-0.1396 0.1396"/>
                                          <geom type="mesh" mesh="cervical_5_mesh" pos="0 0 0" mass="0"/>

                                          <body name="cervical_4" pos="0 0 0">
                                            <inertial pos="-0.861025 0.030326 1.34529" mass="0.05" diaginertia="0.001 0.001 0.001"/>
                                            <joint name="C4_x" type="hinge" pos="-0.861025 0.030326 1.34529" axis="1 0 0" range="-0.1745 0.1222"/>
                                            <joint name="C4_y" type="hinge" pos="-0.861025 0.030326 1.34529" axis="0 1 0" range="-0.1222 0.1222"/>
                                            <joint name="C4_z" type="hinge" pos="-0.861025 0.030326 1.34529" axis="0 0 1" range="-0.1396 0.1396"/>
                                            <geom type="mesh" mesh="cervical_4_mesh" pos="0 0 0" mass="0"/>

                                            <body name="cervical_3" pos="0 0 0">
                                              <inertial pos="-0.861349 0.031111 1.36006" mass="0.05" diaginertia="0.001 0.001 0.001"/>
                                              <joint name="C3_x" type="hinge" pos="-0.861349 0.031111 1.36006" axis="1 0 0" range="-0.1745 0.1047"/>
                                              <joint name="C3_y" type="hinge" pos="-0.861349 0.031111 1.36006" axis="0 1 0" range="-0.1222 0.1222"/>
                                              <joint name="C3_z" type="hinge" pos="-0.861349 0.031111 1.36006" axis="0 0 1" range="-0.1222 0.1222"/>
                                              <geom type="mesh" mesh="cervical_3_mesh" pos="0 0 0" mass="0"/>

                                              <body name="cervical_2" pos="0 0 0">
                                                <inertial pos="-0.861514 0.031624 1.3721" mass="0.05" diaginertia="0.001 0.001 0.001"/>
                                                <joint name="C2_x" type="hinge" pos="-0.861514 0.031624 1.3721" axis="1 0 0" range="-0.1396 0.0873"/>
                                                <joint name="C2_y" type="hinge" pos="-0.861514 0.031624 1.3721" axis="0 1 0" range="-0.1047 0.1047"/>
                                                <joint name="C2_z" type="hinge" pos="-0.861514 0.031624 1.3721" axis="0 0 1" range="-0.0873 0.0873"/>
                                                <geom type="mesh" mesh="cervical_2_mesh" pos="0 0 0" mass="0"/>

                                                <body name="cervical_1" pos="0 0 0">
                                                  <inertial pos="-0.863234 0.01187 1.38309" mass="0.05" diaginertia="0.001 0.001 0.001"/>
                                                  <joint name="C1_x" type="hinge" pos="-0.863234 0.01187 1.38309" axis="1 0 0" range="-0.1745 0.1745"/>
                                                  <joint name="C1_y" type="hinge" pos="-0.863234 0.01187 1.38309" axis="0 1 0" range="-0.0873 0.0873"/>
                                                  <joint name="C1_z" type="hinge" pos="-0.863234 0.01187 1.38309" axis="0 0 1" range="-0.6981 0.6981"/>
                                                  <geom type="mesh" mesh="cervical_1_mesh" pos="0 0 0" mass="0"/>

                                                  <body name="head" pos="0 0 0">
                                                    <inertial pos="-0.862013 0.029982 1.39498" mass="4" diaginertia="0.05 0.05 0.05"/>
                                                    <joint name="head_x" type="hinge" pos="-0.862013 0.029982 1.39498" axis="1 0 0" range="-0.3142 0.2094"/>
                                                    <joint name="head_y" type="hinge" pos="-0.862013 0.029982 1.39498" axis="0 1 0" range="-0.0873 0.0873"/>
                                                    <joint name="head_z" type="hinge" pos="-0.862013 0.029982 1.39498" axis="0 0 1" range="-0.0873 0.0873"/>
                                                    <geom type="mesh" mesh="head_mesh" pos="0 0 0" mass="0"/>
                                                  </body>
                                                </body>
                                              </body>
                                            </body>
                                          </body>
                                        </body>
                                      </body>
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
    </body>
  </body>
</body>

<fixed name="hip_r_split_lock" limited="true" range="-10 0.785" solimplimit="0.999 0.9999 0.001" solreflimit="0.005 1">
    <joint joint="hip_r_abduction" coef="1.0"/> <!-- Знак инвертирован -->
    <joint joint="hip_r_rotation" coef="-0.5"/> <!-- Знак инвертирован -->
</fixed>
<fixed name="hamstring_r_lock" limited="true" range="-10 1.57" solimplimit="0.999 0.9999 0.001" solreflimit="0.005 1">
    <joint joint="hip_r_flexion" coef="1.0"/>
    <joint joint="knee_r" coef="0.31"/> 
</fixed>
<fixed name="hip_l_split_lock" limited="true" range="-10 0.785" solimplimit="0.999 0.9999 0.001" solreflimit="0.005 1">
    <joint joint="hip_l_abduction" coef="1.0"/> 
    <joint joint="hip_l_rotation" coef="-0.5"/>
</fixed>
<fixed name="hamstring_l_lock" limited="true" range="-10 1.57" solimplimit="0.999 0.9999 0.001" solreflimit="0.005 1">
    <joint joint="hip_l_flexion" coef="1.0"/>
    <joint joint="knee_l" coef="0.31"/>
</fixed>

<fixed name="ankle_r_inv_lock" limited="true" range="-10 0.89" solimplimit="0.95 0.99 0.01" solreflimit="0.005 1">
    <joint joint="ankle_r_y" coef="-1.0"/> <!-- Знак инвертирован -->
    <joint joint="ankle_r_x" coef="1.0"/>
</fixed>
<fixed name="ankle_r_ever_lock" limited="true" range="-10 0.45" solimplimit="0.95 0.99 0.01" solreflimit="0.005 1">
    <joint joint="ankle_r_y" coef="1.0"/> <!-- Знак инвертирован -->
    <joint joint="ankle_r_x" coef="0.5"/>
</fixed>
<fixed name="ankle_l_ever_lock" limited="true" range="-10 0.45" solimplimit="0.95 0.99 0.01" solreflimit="0.005 1">
    <joint joint="ankle_l_y" coef="1.0"/>
    <joint joint="ankle_l_x" coef="0.5"/>
</fixed>
<fixed name="ankle_l_inv_lock" limited="true" range="-10 0.89" solimplimit="0.95 0.99 0.01" solreflimit="0.005 1">
    <joint joint="ankle_l_y" coef="-1.0"/>
    <joint joint="ankle_l_x" coef="1.0"/>
</fixed>

<!-- 
  Coupled Motion для позвоночника (в радианах)
-->
<fixed name="L5_coupled" limited="true" range="-0.3491 0.3491">
    <joint joint="L5_y" coef="1.0"/>
    <joint joint="L5_z" coef="3.0"/>
</fixed>
<fixed name="L4_coupled" limited="true" range="-0.2793 0.2793">
    <joint joint="L4_y" coef="1.0"/>
    <joint joint="L4_z" coef="3.0"/>
</fixed>
<fixed name="L3_coupled" limited="true" range="-0.2967 0.2967">
    <joint joint="L3_y" coef="1.0"/>
    <joint joint="L3_z" coef="3.0"/>
</fixed>
<fixed name="L2_coupled" limited="true" range="-0.2793 0.2793">
    <joint joint="L2_y" coef="1.0"/>
    <joint joint="L2_z" coef="3.0"/>
</fixed>
<fixed name="L1_coupled" limited="true" range="-0.2618 0.2618">
    <joint joint="L1_y" coef="1.0"/>
    <joint joint="L1_z" coef="3.0"/>
</fixed>

<fixed name="T12_coupled" limited="true" range="-0.4014 0.4014">
    <joint joint="T12_y" coef="1.0"/>
    <joint joint="T12_z" coef="2.0"/>
</fixed>
<fixed name="T11_coupled" limited="true" range="-0.3316 0.3316">
    <joint joint="T11_y" coef="1.0"/>
    <joint joint="T11_z" coef="1.5"/>
</fixed>
<fixed name="T10_coupled" limited="true" range="-0.2967 0.2967">
    <joint joint="T10_y" coef="1.0"/>
    <joint joint="T10_z" coef="1.2"/>
</fixed>
<fixed name="T9_coupled" limited="true" range="-0.2967 0.2967">
    <joint joint="T9_y" coef="1.0"/>
    <joint joint="T9_z" coef="1.0"/>
</fixed>
<fixed name="T8_coupled" limited="true" range="-0.2618 0.2618">
    <joint joint="T8_y" coef="1.0"/>
    <joint joint="T8_z" coef="0.85"/>
</fixed>
<fixed name="T7_coupled" limited="true" range="-0.2618 0.2618">
    <joint joint="T7_y" coef="1.0"/>
    <joint joint="T7_z" coef="0.85"/>
</fixed>
<fixed name="T6_coupled" limited="true" range="-0.2443 0.2443">
    <joint joint="T6_y" coef="1.0"/>
    <joint joint="T6_z" coef="0.75"/>
</fixed>
<fixed name="T5_coupled" limited="true" range="-0.2443 0.2443">
    <joint joint="T5_y" coef="1.0"/>
    <joint joint="T5_z" coef="0.75"/>
</fixed>
<fixed name="T4_coupled" limited="true" range="-0.2269 0.2269">
    <joint joint="T4_y" coef="1.0"/>
    <joint joint="T4_z" coef="0.75"/>
</fixed>
<fixed name="T3_coupled" limited="true" range="-0.2443 0.2443">
    <joint joint="T3_y" coef="1.0"/>
    <joint joint="T3_z" coef="0.75"/>
</fixed>
<fixed name="T2_coupled" limited="true" range="-0.2618 0.2618">
    <joint joint="T2_y" coef="1.0"/>
    <joint joint="T2_z" coef="0.75"/>
</fixed>
<fixed name="T1_coupled" limited="true" range="-0.2094 0.2094">
    <joint joint="T1_y" coef="1.0"/>
    <joint joint="T1_z" coef="0.66"/>
</fixed>

<fixed name="C7_coupled" limited="true" range="-0.2094 0.2094">
    <joint joint="C7_y" coef="1.0"/>
    <joint joint="C7_z" coef="-1.33"/>
</fixed>
<fixed name="C6_coupled" limited="true" range="-0.2618 0.2618">
    <joint joint="C6_y" coef="1.0"/>
    <joint joint="C6_z" coef="-1.33"/>
</fixed>
<fixed name="C5_coupled" limited="true" range="-0.3142 0.3142">
    <joint joint="C5_y" coef="1.0"/>
    <joint joint="C5_z" coef="-1.33"/>
</fixed>
<fixed name="C4_coupled" limited="true" range="-0.3142 0.3142">
    <joint joint="C4_y" coef="1.0"/>
    <joint joint="C4_z" coef="-1.33"/>
</fixed>
<fixed name="C3_coupled" limited="true" range="-0.3142 0.3142">
    <joint joint="C3_y" coef="1.0"/>
    <joint joint="C3_z" coef="-1.6"/>
</fixed>
<fixed name="C2_coupled" limited="true" range="-0.2793 0.2793">
    <joint joint="C2_y" coef="1.0"/>
    <joint joint="C2_z" coef="-2.0"/>
</fixed>

<!-- ПЛЕЧЕВЫЕ СУСТАВЫ: Зависимые движения (Coupled Motions)   -->
<!-- НИЖЕ ЗАКОММЕНТИРОВАН БЛОК, КОТОРЫЙ БЛОКИРОВАЛ РОТАЦИЮ    -->
<!-- ======================================================== -->

<!--
[1. Зависимость Отведения от Наружной ротации (предотвращение импинджмента)]
<fixed name="shoulder_r_impingement_lock" limited="true" range="-10 1.65" solimplimit="0.95 0.99 0.001">
    <joint joint="shoulder_r_abduction" coef="1.0"/>
    <joint joint="shoulder_r_rotation" coef="-0.33"/>
</fixed>
<fixed name="shoulder_l_impingement_lock" limited="true" range="-10 1.65" solimplimit="0.95 0.99 0.001">
    <joint joint="shoulder_l_abduction" coef="1.0"/>
    <joint joint="shoulder_l_rotation" coef="-0.33"/>
</fixed>

[2. Зависимость Наружной ротации от Отведения]
<fixed name="shoulder_r_ext_rot_lock" limited="true" range="-10 0.9" solimplimit="0.99 0.999 0.001">
    <joint joint="shoulder_r_rotation" coef="1.0"/>
    <joint joint="shoulder_r_abduction" coef="-0.5"/>
</fixed>
<fixed name="shoulder_l_ext_rot_lock" limited="true" range="-10 0.9" solimplimit="0.99 0.999 0.001">
    <joint joint="shoulder_l_rotation" coef="1.0"/>
    <joint joint="shoulder_l_abduction" coef="-0.5"/>
</fixed>

[3. Зависимость Внутренней ротации от Отведения]
<fixed name="shoulder_r_int_rot_lock" limited="true" range="-10 1.6" solimplimit="0.99 0.999 0.001">
    <joint joint="shoulder_r_rotation" coef="-1.0"/>
    <joint joint="shoulder_r_abduction" coef="-0.4"/>
</fixed>
<fixed name="shoulder_l_int_rot_lock" limited="true" range="-10 1.6" solimplimit="0.99 0.999 0.001">
    <joint joint="shoulder_l_rotation" coef="-1.0"/>
    <joint joint="shoulder_l_abduction" coef="-0.4"/>
</fixed>
-->

<position name="hip_r_flex" joint="hip_r_flexion" kp="1500" kv="150" ctrllimited="true" ctrlrange="-0.7854 2.4435"/>
<!-- Отзеркален ctrlrange -->
<position name="hip_r_abd" joint="hip_r_abduction" kp="1500" kv="150" ctrllimited="true" ctrlrange="-0.7854 1.5708"/> 
<!-- Изменен нижний лимит ctrlrange с -1.5708 на -1.0472 -->
<position name="hip_r_rot" joint="hip_r_rotation" kp="1500" kv="150" ctrllimited="true" ctrlrange="-1.0472 1.5708"/>
<position name="knee_r_motor" joint="knee_r" kp="1500" kv="150" ctrllimited="true" ctrlrange="-2.7925 0.0873"/>
<!-- Отзеркален ctrlrange -->
<position name="knee_r_rot_motor" joint="knee_r_rotation" kp="1500" kv="150" ctrllimited="true" ctrlrange="-0.3491 0.7854"/>

<position name="ankle_r_x_motor" joint="ankle_r_x" kp="500" kv="50" ctrllimited="true" ctrlrange="-1.0472 0.8727"/>
<!-- Отзеркален ctrlrange -->
<position name="ankle_r_y_motor" joint="ankle_r_y" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.8727 0.4363"/>
<position name="toe_big_r_motor" joint="mtp_1_r" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.7453"/>
<position name="toe_2_r_motor" joint="mtp_2_r" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>
<position name="toe_3_r_motor" joint="mtp_3_r" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>
<position name="toe_4_r_motor" joint="mtp_4_r" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>
<position name="toe_5_r_motor" joint="mtp_5_r" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>

<position name="hip_l_flex" joint="hip_l_flexion" kp="1500" kv="150" ctrllimited="true" ctrlrange="-0.7854 2.4435"/>
<position name="hip_l_abd" joint="hip_l_abduction" kp="1500" kv="150" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>
<!-- Изменен нижний лимит ctrlrange с -1.5708 на -1.0472 -->
<position name="hip_l_rot" joint="hip_l_rotation" kp="1500" kv="150" ctrllimited="true" ctrlrange="-1.0472 1.5708"/>
<position name="knee_l_motor" joint="knee_l" kp="1500" kv="150" ctrllimited="true" ctrlrange="-2.7925 0.0873"/>
<position name="knee_l_rot_motor" joint="knee_l_rotation" kp="1500" kv="150" ctrllimited="true" ctrlrange="-0.7854 0.3491"/>

<position name="ankle_l_x_motor" joint="ankle_l_x" kp="500" kv="50" ctrllimited="true" ctrlrange="-1.0472 0.8727"/>
<position name="ankle_l_y_motor" joint="ankle_l_y" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.8727 0.4363"/>
<position name="toe_big_l_motor" joint="mtp_1_l" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.7453"/>
<position name="toe_2_l_motor" joint="mtp_2_l" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>
<position name="toe_3_l_motor" joint="mtp_3_l" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>
<position name="toe_4_l_motor" joint="mtp_4_l" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>
<position name="toe_5_l_motor" joint="mtp_5_l" kp="500" kv="50" ctrllimited="true" ctrlrange="-0.7854 1.5708"/>

<!-- Актуаторы позвоночника (в радианах) -->
<position name="L5_x_motor" joint="L5_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.2618 0.2618"/>
<position name="L5_y_motor" joint="L5_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="L5_z_motor" joint="L5_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="L4_x_motor" joint="L4_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.2094 0.2269"/>
<position name="L4_y_motor" joint="L4_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="L4_z_motor" joint="L4_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0524 0.0524"/>
<position name="L3_x_motor" joint="L3_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1745 0.2094"/>
<position name="L3_y_motor" joint="L3_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1396 0.1396"/>
<position name="L3_z_motor" joint="L3_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0524 0.0524"/>
<position name="L2_x_motor" joint="L2_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1745 0.1920"/>
<position name="L2_y_motor" joint="L2_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="L2_z_motor" joint="L2_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0524 0.0524"/>
<position name="L1_x_motor" joint="L1_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1571 0.1745"/>
<position name="L1_y_motor" joint="L1_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="L1_z_motor" joint="L1_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0524 0.0524"/>

<position name="T12_x_motor" joint="T12_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1396"/>
<position name="T12_y_motor" joint="T12_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1571 0.1571"/>
<position name="T12_z_motor" joint="T12_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="T11_x_motor" joint="T11_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="T11_y_motor" joint="T11_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="T11_z_motor" joint="T11_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1396 0.1396"/>
<position name="T10_x_motor" joint="T10_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.0698"/>
<position name="T10_y_motor" joint="T10_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="T10_z_motor" joint="T10_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1571 0.1571"/>
<position name="T9_x_motor" joint="T9_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0698"/>
<position name="T9_y_motor" joint="T9_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="T9_z_motor" joint="T9_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1920 0.1920"/>
<position name="T8_x_motor" joint="T8_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0698"/>
<position name="T8_y_motor" joint="T8_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="T8_z_motor" joint="T8_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1920 0.1920"/>
<position name="T7_x_motor" joint="T7_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0524"/>
<position name="T7_y_motor" joint="T7_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="T7_z_motor" joint="T7_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1920 0.1920"/>
<position name="T6_x_motor" joint="T6_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0698 0.0349"/>
<position name="T6_y_motor" joint="T6_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="T6_z_motor" joint="T6_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1920 0.1920"/>
<position name="T5_x_motor" joint="T5_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0698 0.0349"/>
<position name="T5_y_motor" joint="T5_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="T5_z_motor" joint="T5_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1920 0.1920"/>
<position name="T4_x_motor" joint="T4_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0698 0.0349"/>
<position name="T4_y_motor" joint="T4_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="T4_z_motor" joint="T4_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1920 0.1920"/>
<position name="T3_x_motor" joint="T3_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0524 0.0349"/>
<position name="T3_y_motor" joint="T3_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="T3_z_motor" joint="T3_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.2094 0.2094"/>
<position name="T2_x_motor" joint="T2_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0524 0.0349"/>
<position name="T2_y_motor" joint="T2_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="T2_z_motor" joint="T2_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.2443 0.2443"/>
<position name="T1_x_motor" joint="T1_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0524 0.0524"/>
<position name="T1_y_motor" joint="T1_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="T1_z_motor" joint="T1_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1745 0.1745"/>

<position name="C7_x_motor" joint="C7_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.0873"/>
<position name="C7_y_motor" joint="C7_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="C7_z_motor" joint="C7_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="C6_x_motor" joint="C6_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1396 0.1222"/>
<position name="C6_y_motor" joint="C6_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="C6_z_motor" joint="C6_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="C5_x_motor" joint="C5_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1745 0.1396"/>
<position name="C5_y_motor" joint="C5_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="C5_z_motor" joint="C5_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1396 0.1396"/>
<position name="C4_x_motor" joint="C4_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1745 0.1222"/>
<position name="C4_y_motor" joint="C4_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="C4_z_motor" joint="C4_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1396 0.1396"/>
<position name="C3_x_motor" joint="C3_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1745 0.1047"/>
<position name="C3_y_motor" joint="C3_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="C3_z_motor" joint="C3_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1222 0.1222"/>
<position name="C2_x_motor" joint="C2_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1396 0.0873"/>
<position name="C2_y_motor" joint="C2_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1047 0.1047"/>
<position name="C2_z_motor" joint="C2_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="C1_x_motor" joint="C1_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.1745 0.1745"/>
<position name="C1_y_motor" joint="C1_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="C1_z_motor" joint="C1_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.6981 0.6981"/>

<position name="head_x_motor" joint="head_x" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.3142 0.2094"/>
<position name="head_y_motor" joint="head_y" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>
<position name="head_z_motor" joint="head_z" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.0873 0.0873"/>

<!-- РУЧНОЙ КОНТРОЛЬ ПРАВОГО ПЛЕЧЕВОГО ПОЯСА    -->
<!-- ========================================== -->
<!-- Ключица -->
<position name="clavicle_r_prot_motor" joint="clavicle_r_protraction" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.61 0.20"/>
<position name="clavicle_r_elev_motor" joint="clavicle_r_elevation" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.15 0.87"/>
<position name="clavicle_r_rot_motor" joint="clavicle_r_rotation" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.26 0.87"/>
<!-- Лопатка -->
<position name="scapula_r_upward_rot_motor" joint="scapula_r_upward_rot" kp="2000" kv="200" ctrllimited="true" ctrlrange="-0.5 1.0"/>
<position name="scapula_r_winging_motor" joint="scapula_r_winging" kp="2000" kv="200" ctrllimited="true" ctrlrange="-0.5 0.5"/>
<position name="scapula_r_tilt_motor" joint="scapula_r_tilt" kp="2000" kv="200" ctrllimited="true" ctrlrange="-0.15 0.0"/>

<!-- ========================================== -->
<!-- РУЧНОЙ КОНТРОЛЬ ЛЕВОГО ПЛЕЧЕВОГО ПОЯСА     -->
<!-- ========================================== -->
<!-- Ключица -->
<position name="clavicle_l_prot_motor" joint="clavicle_l_protraction" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.61 0.20"/>
<position name="clavicle_l_elev_motor" joint="clavicle_l_elevation" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.15 0.87"/>
<position name="clavicle_l_rot_motor" joint="clavicle_l_rotation" kp="1000" kv="100" ctrllimited="true" ctrlrange="-0.26 0.87"/>
<!-- Лопатка -->
<position name="scapula_l_upward_rot_motor" joint="scapula_l_upward_rot" kp="2000" kv="200" ctrllimited="true" ctrlrange="-0.5 1.0"/>
<position name="scapula_l_winging_motor" joint="scapula_l_winging" kp="2000" kv="200" ctrllimited="true" ctrlrange="-0.5 0.5"/>
<position name="scapula_l_tilt_motor" joint="scapula_l_tilt" kp="2000" kv="200" ctrllimited="true" ctrlrange="-0.15 0.0"/>

<position name="shoulder_r_flex_motor" joint="shoulder_r_flexion" kp="1500" kv="150" ctrllimited="true" ctrlrange="-1.05 3.1416"/>
<position name="shoulder_r_abd_motor" joint="shoulder_r_abduction" kp="1500" kv="150" ctrllimited="true" ctrlrange="-0.70 2.09"/>
<position name="shoulder_r_rot_motor" joint="shoulder_r_rotation" kp="1500" kv="150" ctrllimited="true" ctrlrange="-1.57 1.75"/>

<position name="shoulder_l_flex_motor" joint="shoulder_l_flexion" kp="1500" kv="150" ctrllimited="true" ctrlrange="-1.05 3.1416"/>
<position name="shoulder_l_abd_motor" joint="shoulder_l_abduction" kp="1500" kv="150" ctrllimited="true" ctrlrange="-0.70 2.09"/>
<position name="shoulder_l_rot_motor" joint="shoulder_l_rotation" kp="1500" kv="150" ctrllimited="true" ctrlrange="-1.57 1.75"/>

Confirmations

I searched the latest documentation thoroughly before posting.
I searched previous Issues and Discussions, I am certain this has not been raised before.

ayers · 2026-08-21T18:12:06Z

ayers
Aug 21, 2026

Hi,
Wow, this model is really cool!

I see right now you’ve got SC, AC, and GH with 3 DOF each, but they all move independently, so it makes sense you’re seeing some weird pulling away/clipping. Here are my thoughts:

If you just need to show the movement in action, you could consider using position actuator targets: https://mujoco.readthedocs.io/en/latest/programming/simulation.html#simulation-loop
However, if you really want to enforce the correct movement while interacting with the model, you could use a joint equality that approximates each dependent joint position as a function of shoulder flexion. Because of the nonlinearity, you would specifically need to use a smooth polynomial for the equality function. I see you’ve already done something similar with the patella. https://mujoco.readthedocs.io/en/latest/XMLreference.html#equality-joint
Spatial tendons only make sense if you’re trying to demonstrate how muscle-like forces cause the rhythm to occur, but this is too complicated if you just want to show the movement

Are you trying to just show the correct movement for scapulohumeral rhythm in simulation, or maintain the correct movement during any interaction with the model? Feel free to reply or reach out.

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Scapulohumeral Rhythm in MuJoCo: How to properly model clavicle & scapula kinematics without mesh clipping during 180° flexion? #3453

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Scapulohumeral Rhythm in MuJoCo: How to properly model clavicle & scapula kinematics without mesh clipping during 180° flexion? #3453

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Mahendrapvl Aug 3, 2026

Intro

My setup

My question

Minimal model and/or code that explain my question

Confirmations

Replies: 1 comment

Uh oh!

ayers Aug 21, 2026

Mahendrapvl
Aug 3, 2026

ayers
Aug 21, 2026