<bml id="bml1" xmlns:bmlt="http://hmi.ewi.utwente.nl/bmlt">
	<head id="nod1" repeats="2" start="2" action="ROTATION" rotation="NOD"/>
	
	<bmlt:controller id="balance1" class="BalanceController"/>	
	<bmlt:controller id="shoulder1" class="BallJointController">
		<bmlt:parameter name="joint" value="l_shoulder"/>
	</bmlt:controller>
	<bmlt:controller id="elbow1" class="HingeJointController">
		<bmlt:parameter name="joint" value="l_elbow"/>
	</bmlt:controller>
	<bmlt:controller id="shoulder2" class="BallJointController">
		<bmlt:parameter name="joint" value="r_shoulder"/>
	</bmlt:controller>
	<bmlt:controller id="elbow2" class="HingeJointController">
		<bmlt:parameter name="joint" value="r_elbow"/>
	</bmlt:controller>
</bml>
