  We derive two generalizations of Mathisson-Papapetrou-Tulczyjew-Dixon
equations from Casalbuoni-Brink-Schwarz type pseudoclassical Lagrangians of
Majorana spinors on a Riemann-Cartan spacetime. One has a "color" freedom,
which makes the equations of motion also be a generalization of Wong equations.
The other is a spinor model coupled with a Rarita-Schwinger field to preserve
the supersymmetry. The coupling to the torsion is modified due to the existence
of the Rarita-Schwinger field. In both extensions, the Tulczyjew condition is
automatically satisfied.
