From 7c534a066c8d61bf87f7818624baf6fbe500c17b Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 20 Feb 2024 04:40:32 -0800
Subject: [PATCH] Sort humanoid actuators in the same order as the joints.

PiperOrigin-RevId: 608558353
Change-Id: I84015a92c39c187f65d59623f2793c29bf24b8ef
---
 model/humanoid/README.md    | 1 +
 model/humanoid/humanoid.xml | 6 +++---
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/model/humanoid/README.md b/model/humanoid/README.md
index de4c7069..37a6a203 100644
--- a/model/humanoid/README.md
+++ b/model/humanoid/README.md
@@ -13,6 +13,7 @@ in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
 
 ## Changelog
 
+* 20-02-2024: Sorted actuators in the same order as the joints.
 * 02-01-2024: Add more keyframes.
 * 27-11-2023: Move humanoid geoms to group 1.
 * 05-04-2023: Fix typo in texture size.
diff --git a/model/humanoid/humanoid.xml b/model/humanoid/humanoid.xml
index 013ebe23..b4d8d131 100644
--- a/model/humanoid/humanoid.xml
+++ b/model/humanoid/humanoid.xml
@@ -200,21 +200,21 @@
   </tendon>
 
   <actuator>
-    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
     <motor name="abdomen_z"       gear="40"  joint="abdomen_z"/>
+    <motor name="abdomen_y"       gear="40"  joint="abdomen_y"/>
     <motor name="abdomen_x"       gear="40"  joint="abdomen_x"/>
     <motor name="hip_x_right"     gear="40"  joint="hip_x_right"/>
     <motor name="hip_z_right"     gear="40"  joint="hip_z_right"/>
     <motor name="hip_y_right"     gear="120" joint="hip_y_right"/>
     <motor name="knee_right"      gear="80"  joint="knee_right"/>
-    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
     <motor name="ankle_y_right"   gear="20"  joint="ankle_y_right"/>
+    <motor name="ankle_x_right"   gear="20"  joint="ankle_x_right"/>
     <motor name="hip_x_left"      gear="40"  joint="hip_x_left"/>
     <motor name="hip_z_left"      gear="40"  joint="hip_z_left"/>
     <motor name="hip_y_left"      gear="120" joint="hip_y_left"/>
     <motor name="knee_left"       gear="80"  joint="knee_left"/>
-    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
     <motor name="ankle_y_left"    gear="20"  joint="ankle_y_left"/>
+    <motor name="ankle_x_left"    gear="20"  joint="ankle_x_left"/>
     <motor name="shoulder1_right" gear="20"  joint="shoulder1_right"/>
     <motor name="shoulder2_right" gear="20"  joint="shoulder2_right"/>
     <motor name="elbow_right"     gear="40"  joint="elbow_right"/>