0 CoreComponent Core 0
	0 ActiveHinge Hip1 1 
		0 FixedBrick UpperLeg1 1
			0 ActiveHinge Knee1 0 
				0 FixedBrick LowerLeg1 0 
	1 ActiveHinge Hip2 3 
		0 FixedBrick UpperLeg2 1
			0 ActiveHinge Knee2 0 
				0 FixedBrick LowerLeg2 0 



Hip1 0 Oscillator 0.8 -0.8 1
Hip2 0 Oscillator 0.8 -0.95 1
Knee1 0 Oscillator 0.8 0.2 1
Knee2 0 Oscillator 0.8 -1.0 1