Add 01-10 humanoids for benchmarking.
PiperOrigin-RevId: 617318016 Change-Id: Ic5dc0623266d4d6bef6da97d03370010e2817a2a
This commit is contained in:
Erik Frey
committed by
Copybara-Service
Copybara-Service
parent
20c8e3e43b
commit
9b86329797
@@ -0,0 +1,150 @@
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<mujoco model="01 Humanoids">
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<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
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<flag eulerdamp="disable"/>
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</option>
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<custom>
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<numeric data="4" name="max_contact_points"/>
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</custom>
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<size memory="100M"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
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rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
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<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<default>
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<motor ctrlrange="-1 1" ctrllimited="true"/>
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<default class="body">
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<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="0"/>
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<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
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<default class="big_joint">
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<joint damping="5" stiffness="10"/>
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<default class="big_stiff_joint">
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<joint stiffness="20"/>
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</default>
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</default>
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</default>
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</default>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
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<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
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<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
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<body name="1a_torso" pos="-1 0 1.5" childclass="body">
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<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
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<freejoint name="1a_root"/>
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<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
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<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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<body name="1a_head" pos="0 0 .19">
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<geom name="1a_head" type="sphere" size=".09"/>
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<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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</body>
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<body name="1a_lower_waist" pos="-.01 0 -.26">
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<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
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<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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<body name="1a_pelvis" pos="0 0 -.165">
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<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
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<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
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<body name="1a_right_thigh" pos="0 -.1 -.04">
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<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
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<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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<body name="1a_right_shin" pos="0 .01 -.403">
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<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<body name="1a_right_foot" pos="0 0 -.39">
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<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
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<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
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</body>
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</body>
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</body>
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<body name="1a_left_thigh" pos="0 .1 -.04">
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<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
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<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
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<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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<body name="1a_left_shin" pos="0 -.01 -.403">
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<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<body name="1a_left_foot" pos="0 0 -.39">
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<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
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<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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<body name="1a_right_upper_arm" pos="0 -.17 .06">
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<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
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<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
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<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
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<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
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<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
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<body name="1a_right_hand" pos=".18 .18 .18">
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<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
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</body>
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</body>
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</body>
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<body name="1a_left_upper_arm" pos="0 .17 .06">
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<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
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<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
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<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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<body name="1a_left_lower_arm" pos=".18 .18 -.18">
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<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
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<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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<body name="1a_left_hand" pos=".18 -.18 .18">
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<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor gear="40" joint="1a_abdomen_y"/>
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<motor gear="40" joint="1a_abdomen_z"/>
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<motor gear="40" joint="1a_abdomen_x"/>
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<motor gear="40" joint="1a_right_hip_x"/>
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<motor gear="40" joint="1a_right_hip_z"/>
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<motor gear="120" joint="1a_right_hip_y"/>
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<motor gear="80" joint="1a_right_knee"/>
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<motor gear="20" joint="1a_right_ankle_x"/>
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<motor gear="20" joint="1a_right_ankle_y"/>
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<motor gear="40" joint="1a_left_hip_x"/>
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<motor gear="40" joint="1a_left_hip_z"/>
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<motor gear="120" joint="1a_left_hip_y"/>
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<motor gear="80" joint="1a_left_knee"/>
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<motor gear="20" joint="1a_left_ankle_x"/>
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<motor gear="20" joint="1a_left_ankle_y"/>
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<motor gear="20" joint="1a_right_shoulder1"/>
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<motor gear="20" joint="1a_right_shoulder2"/>
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<motor gear="40" joint="1a_right_elbow"/>
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<motor gear="20" joint="1a_left_shoulder1"/>
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<motor gear="20" joint="1a_left_shoulder2"/>
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<motor gear="40" joint="1a_left_elbow"/>
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</actuator>
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</mujoco>
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@@ -0,0 +1,255 @@
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<mujoco model="02 Humanoids">
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<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
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<flag eulerdamp="disable"/>
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</option>
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<custom>
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<numeric data="8" name="max_contact_points"/>
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<numeric data="8" name="max_geom_pairs"/>
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</custom>
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<size memory="100M"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
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rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
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<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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<default>
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<motor ctrlrange="-1 1" ctrllimited="true"/>
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<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
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<default class="big_joint">
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<joint damping="5" stiffness="10"/>
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<default class="big_stiff_joint">
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<joint stiffness="20"/>
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</default>
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</default>
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<default class="body1">
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<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="5"/>
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</default>
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<default class="body2">
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<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="3"/>
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</default>
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</default>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
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<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
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<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
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<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
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<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
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<freejoint name="1a_root"/>
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<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
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<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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<body name="1a_head" pos="0 0 .19">
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<geom name="1a_head" type="sphere" size=".09"/>
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<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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</body>
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<body name="1a_lower_waist" pos="-.01 0 -.26">
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<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
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<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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<body name="1a_pelvis" pos="0 0 -.165">
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<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
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<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
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<body name="1a_right_thigh" pos="0 -.1 -.04">
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<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
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<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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<body name="1a_right_shin" pos="0 .01 -.403">
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<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<body name="1a_right_foot" pos="0 0 -.39">
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<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
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<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
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</body>
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</body>
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</body>
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<body name="1a_left_thigh" pos="0 .1 -.04">
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<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
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<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
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<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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<body name="1a_left_shin" pos="0 -.01 -.403">
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<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<body name="1a_left_foot" pos="0 0 -.39">
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<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
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<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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<body name="1a_right_upper_arm" pos="0 -.17 .06">
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<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
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<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
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<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
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<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
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<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
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<body name="1a_right_hand" pos=".18 .18 .18">
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<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
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</body>
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</body>
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</body>
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<body name="1a_left_upper_arm" pos="0 .17 .06">
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<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
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<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
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<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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<body name="1a_left_lower_arm" pos=".18 .18 -.18">
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<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
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<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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<body name="1a_left_hand" pos=".18 -.18 .18">
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<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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</body>
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</body>
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</body>
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</body>
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<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
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<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
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<freejoint name="2a_root"/>
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<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
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<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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<body name="2a_head" pos="0 0 .19">
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<geom name="2a_head" type="sphere" size=".09"/>
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<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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</body>
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<body name="2a_lower_waist" pos="-.01 0 -.26">
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<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
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<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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<body name="2a_pelvis" pos="0 0 -.165">
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<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_right_foot" pos="0 0 -.39">
|
||||
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_left_foot" pos="0 0 -.39">
|
||||
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="1a_abdomen_y"/>
|
||||
<motor gear="40" joint="1a_abdomen_z"/>
|
||||
<motor gear="40" joint="1a_abdomen_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_z"/>
|
||||
<motor gear="120" joint="1a_right_hip_y"/>
|
||||
<motor gear="80" joint="1a_right_knee"/>
|
||||
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||
<motor gear="40" joint="1a_left_hip_x"/>
|
||||
<motor gear="40" joint="1a_left_hip_z"/>
|
||||
<motor gear="120" joint="1a_left_hip_y"/>
|
||||
<motor gear="80" joint="1a_left_knee"/>
|
||||
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||
<motor gear="40" joint="1a_right_elbow"/>
|
||||
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||
<motor gear="40" joint="1a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="2a_abdomen_y"/>
|
||||
<motor gear="40" joint="2a_abdomen_z"/>
|
||||
<motor gear="40" joint="2a_abdomen_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_z"/>
|
||||
<motor gear="120" joint="2a_right_hip_y"/>
|
||||
<motor gear="80" joint="2a_right_knee"/>
|
||||
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||
<motor gear="40" joint="2a_left_hip_x"/>
|
||||
<motor gear="40" joint="2a_left_hip_z"/>
|
||||
<motor gear="120" joint="2a_left_hip_y"/>
|
||||
<motor gear="80" joint="2a_left_knee"/>
|
||||
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||
<motor gear="40" joint="2a_right_elbow"/>
|
||||
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||
<motor gear="40" joint="2a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,359 @@
|
||||
<mujoco model="03 Humanoids">
|
||||
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||
<flag eulerdamp="disable"/>
|
||||
</option>
|
||||
|
||||
<custom>
|
||||
<numeric data="12" name="max_contact_points"/>
|
||||
<numeric data="12" name="max_geom_pairs"/>
|
||||
</custom>
|
||||
|
||||
<size memory="100M"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<default>
|
||||
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||
<default class="big_joint">
|
||||
<joint damping="5" stiffness="10"/>
|
||||
<default class="big_stiff_joint">
|
||||
<joint stiffness="20"/>
|
||||
</default>
|
||||
</default>
|
||||
<default class="body1">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="13"/>
|
||||
</default>
|
||||
<default class="body2">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="11"/>
|
||||
</default>
|
||||
<default class="body3">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="7"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||
|
||||
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="1a_root"/>
|
||||
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="1a_head" pos="0 0 .19">
|
||||
<geom name="1a_head" type="sphere" size=".09"/>
|
||||
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="1a_pelvis" pos="0 0 -.165">
|
||||
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_right_foot" pos="0 0 -.39">
|
||||
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_left_foot" pos="0 0 -.39">
|
||||
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="2a_root"/>
|
||||
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="2a_head" pos="0 0 .19">
|
||||
<geom name="2a_head" type="sphere" size=".09"/>
|
||||
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="2a_pelvis" pos="0 0 -.165">
|
||||
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_right_foot" pos="0 0 -.39">
|
||||
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_left_foot" pos="0 0 -.39">
|
||||
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="3a_root"/>
|
||||
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="3a_head" pos="0 0 .19">
|
||||
<geom name="3a_head" type="sphere" size=".09"/>
|
||||
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="3a_pelvis" pos="0 0 -.165">
|
||||
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_right_foot" pos="0 0 -.39">
|
||||
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_left_foot" pos="0 0 -.39">
|
||||
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="1a_abdomen_y"/>
|
||||
<motor gear="40" joint="1a_abdomen_z"/>
|
||||
<motor gear="40" joint="1a_abdomen_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_z"/>
|
||||
<motor gear="120" joint="1a_right_hip_y"/>
|
||||
<motor gear="80" joint="1a_right_knee"/>
|
||||
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||
<motor gear="40" joint="1a_left_hip_x"/>
|
||||
<motor gear="40" joint="1a_left_hip_z"/>
|
||||
<motor gear="120" joint="1a_left_hip_y"/>
|
||||
<motor gear="80" joint="1a_left_knee"/>
|
||||
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||
<motor gear="40" joint="1a_right_elbow"/>
|
||||
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||
<motor gear="40" joint="1a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="2a_abdomen_y"/>
|
||||
<motor gear="40" joint="2a_abdomen_z"/>
|
||||
<motor gear="40" joint="2a_abdomen_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_z"/>
|
||||
<motor gear="120" joint="2a_right_hip_y"/>
|
||||
<motor gear="80" joint="2a_right_knee"/>
|
||||
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||
<motor gear="40" joint="2a_left_hip_x"/>
|
||||
<motor gear="40" joint="2a_left_hip_z"/>
|
||||
<motor gear="120" joint="2a_left_hip_y"/>
|
||||
<motor gear="80" joint="2a_left_knee"/>
|
||||
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||
<motor gear="40" joint="2a_right_elbow"/>
|
||||
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||
<motor gear="40" joint="2a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="3a_abdomen_y"/>
|
||||
<motor gear="40" joint="3a_abdomen_z"/>
|
||||
<motor gear="40" joint="3a_abdomen_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_z"/>
|
||||
<motor gear="120" joint="3a_right_hip_y"/>
|
||||
<motor gear="80" joint="3a_right_knee"/>
|
||||
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||
<motor gear="40" joint="3a_left_hip_x"/>
|
||||
<motor gear="40" joint="3a_left_hip_z"/>
|
||||
<motor gear="120" joint="3a_left_hip_y"/>
|
||||
<motor gear="80" joint="3a_left_knee"/>
|
||||
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||
<motor gear="40" joint="3a_right_elbow"/>
|
||||
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||
<motor gear="40" joint="3a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,463 @@
|
||||
<mujoco model="04 Humanoids">
|
||||
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||
<flag eulerdamp="disable"/>
|
||||
</option>
|
||||
|
||||
<custom>
|
||||
<numeric data="16" name="max_contact_points"/>
|
||||
<numeric data="16" name="max_geom_pairs"/>
|
||||
</custom>
|
||||
|
||||
<size memory="100M"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<default>
|
||||
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||
<default class="big_joint">
|
||||
<joint damping="5" stiffness="10"/>
|
||||
<default class="big_stiff_joint">
|
||||
<joint stiffness="20"/>
|
||||
</default>
|
||||
</default>
|
||||
<default class="body1">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="29"/>
|
||||
</default>
|
||||
<default class="body2">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="27"/>
|
||||
</default>
|
||||
<default class="body3">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="23"/>
|
||||
</default>
|
||||
<default class="body4">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="15"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||
|
||||
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="1a_root"/>
|
||||
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="1a_head" pos="0 0 .19">
|
||||
<geom name="1a_head" type="sphere" size=".09"/>
|
||||
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="1a_pelvis" pos="0 0 -.165">
|
||||
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_right_foot" pos="0 0 -.39">
|
||||
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_left_foot" pos="0 0 -.39">
|
||||
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="2a_root"/>
|
||||
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="2a_head" pos="0 0 .19">
|
||||
<geom name="2a_head" type="sphere" size=".09"/>
|
||||
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="2a_pelvis" pos="0 0 -.165">
|
||||
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_right_foot" pos="0 0 -.39">
|
||||
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_left_foot" pos="0 0 -.39">
|
||||
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="3a_root"/>
|
||||
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="3a_head" pos="0 0 .19">
|
||||
<geom name="3a_head" type="sphere" size=".09"/>
|
||||
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="3a_pelvis" pos="0 0 -.165">
|
||||
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_right_foot" pos="0 0 -.39">
|
||||
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_left_foot" pos="0 0 -.39">
|
||||
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="4a_root"/>
|
||||
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="4a_head" pos="0 0 .19">
|
||||
<geom name="4a_head" type="sphere" size=".09"/>
|
||||
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="4a_pelvis" pos="0 0 -.165">
|
||||
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_right_foot" pos="0 0 -.39">
|
||||
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_left_foot" pos="0 0 -.39">
|
||||
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="1a_abdomen_y"/>
|
||||
<motor gear="40" joint="1a_abdomen_z"/>
|
||||
<motor gear="40" joint="1a_abdomen_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_z"/>
|
||||
<motor gear="120" joint="1a_right_hip_y"/>
|
||||
<motor gear="80" joint="1a_right_knee"/>
|
||||
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||
<motor gear="40" joint="1a_left_hip_x"/>
|
||||
<motor gear="40" joint="1a_left_hip_z"/>
|
||||
<motor gear="120" joint="1a_left_hip_y"/>
|
||||
<motor gear="80" joint="1a_left_knee"/>
|
||||
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||
<motor gear="40" joint="1a_right_elbow"/>
|
||||
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||
<motor gear="40" joint="1a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="2a_abdomen_y"/>
|
||||
<motor gear="40" joint="2a_abdomen_z"/>
|
||||
<motor gear="40" joint="2a_abdomen_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_z"/>
|
||||
<motor gear="120" joint="2a_right_hip_y"/>
|
||||
<motor gear="80" joint="2a_right_knee"/>
|
||||
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||
<motor gear="40" joint="2a_left_hip_x"/>
|
||||
<motor gear="40" joint="2a_left_hip_z"/>
|
||||
<motor gear="120" joint="2a_left_hip_y"/>
|
||||
<motor gear="80" joint="2a_left_knee"/>
|
||||
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||
<motor gear="40" joint="2a_right_elbow"/>
|
||||
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||
<motor gear="40" joint="2a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="3a_abdomen_y"/>
|
||||
<motor gear="40" joint="3a_abdomen_z"/>
|
||||
<motor gear="40" joint="3a_abdomen_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_z"/>
|
||||
<motor gear="120" joint="3a_right_hip_y"/>
|
||||
<motor gear="80" joint="3a_right_knee"/>
|
||||
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||
<motor gear="40" joint="3a_left_hip_x"/>
|
||||
<motor gear="40" joint="3a_left_hip_z"/>
|
||||
<motor gear="120" joint="3a_left_hip_y"/>
|
||||
<motor gear="80" joint="3a_left_knee"/>
|
||||
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||
<motor gear="40" joint="3a_right_elbow"/>
|
||||
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||
<motor gear="40" joint="3a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="4a_abdomen_y"/>
|
||||
<motor gear="40" joint="4a_abdomen_z"/>
|
||||
<motor gear="40" joint="4a_abdomen_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_z"/>
|
||||
<motor gear="120" joint="4a_right_hip_y"/>
|
||||
<motor gear="80" joint="4a_right_knee"/>
|
||||
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||
<motor gear="40" joint="4a_left_hip_x"/>
|
||||
<motor gear="40" joint="4a_left_hip_z"/>
|
||||
<motor gear="120" joint="4a_left_hip_y"/>
|
||||
<motor gear="80" joint="4a_left_knee"/>
|
||||
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||
<motor gear="40" joint="4a_right_elbow"/>
|
||||
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||
<motor gear="40" joint="4a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,567 @@
|
||||
<mujoco model="05 Humanoids">
|
||||
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||
<flag eulerdamp="disable"/>
|
||||
</option>
|
||||
|
||||
<custom>
|
||||
<numeric data="20" name="max_contact_points"/>
|
||||
<numeric data="20" name="max_geom_pairs"/>
|
||||
</custom>
|
||||
|
||||
<size memory="100M"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<default>
|
||||
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||
<default class="big_joint">
|
||||
<joint damping="5" stiffness="10"/>
|
||||
<default class="big_stiff_joint">
|
||||
<joint stiffness="20"/>
|
||||
</default>
|
||||
</default>
|
||||
<default class="body1">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="61"/>
|
||||
</default>
|
||||
<default class="body2">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="59"/>
|
||||
</default>
|
||||
<default class="body3">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="55"/>
|
||||
</default>
|
||||
<default class="body4">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="47"/>
|
||||
</default>
|
||||
<default class="body5">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="31"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||
|
||||
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="1a_root"/>
|
||||
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="1a_head" pos="0 0 .19">
|
||||
<geom name="1a_head" type="sphere" size=".09"/>
|
||||
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="1a_pelvis" pos="0 0 -.165">
|
||||
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_right_foot" pos="0 0 -.39">
|
||||
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_left_foot" pos="0 0 -.39">
|
||||
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="2a_root"/>
|
||||
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="2a_head" pos="0 0 .19">
|
||||
<geom name="2a_head" type="sphere" size=".09"/>
|
||||
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="2a_pelvis" pos="0 0 -.165">
|
||||
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_right_foot" pos="0 0 -.39">
|
||||
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_left_foot" pos="0 0 -.39">
|
||||
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="3a_root"/>
|
||||
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="3a_head" pos="0 0 .19">
|
||||
<geom name="3a_head" type="sphere" size=".09"/>
|
||||
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="3a_pelvis" pos="0 0 -.165">
|
||||
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_right_foot" pos="0 0 -.39">
|
||||
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_left_foot" pos="0 0 -.39">
|
||||
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="4a_root"/>
|
||||
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="4a_head" pos="0 0 .19">
|
||||
<geom name="4a_head" type="sphere" size=".09"/>
|
||||
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="4a_pelvis" pos="0 0 -.165">
|
||||
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_right_foot" pos="0 0 -.39">
|
||||
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_left_foot" pos="0 0 -.39">
|
||||
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="5a_root"/>
|
||||
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="5a_head" pos="0 0 .19">
|
||||
<geom name="5a_head" type="sphere" size=".09"/>
|
||||
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="5a_pelvis" pos="0 0 -.165">
|
||||
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_right_foot" pos="0 0 -.39">
|
||||
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_left_foot" pos="0 0 -.39">
|
||||
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="1a_abdomen_y"/>
|
||||
<motor gear="40" joint="1a_abdomen_z"/>
|
||||
<motor gear="40" joint="1a_abdomen_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_z"/>
|
||||
<motor gear="120" joint="1a_right_hip_y"/>
|
||||
<motor gear="80" joint="1a_right_knee"/>
|
||||
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||
<motor gear="40" joint="1a_left_hip_x"/>
|
||||
<motor gear="40" joint="1a_left_hip_z"/>
|
||||
<motor gear="120" joint="1a_left_hip_y"/>
|
||||
<motor gear="80" joint="1a_left_knee"/>
|
||||
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||
<motor gear="40" joint="1a_right_elbow"/>
|
||||
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||
<motor gear="40" joint="1a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="2a_abdomen_y"/>
|
||||
<motor gear="40" joint="2a_abdomen_z"/>
|
||||
<motor gear="40" joint="2a_abdomen_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_z"/>
|
||||
<motor gear="120" joint="2a_right_hip_y"/>
|
||||
<motor gear="80" joint="2a_right_knee"/>
|
||||
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||
<motor gear="40" joint="2a_left_hip_x"/>
|
||||
<motor gear="40" joint="2a_left_hip_z"/>
|
||||
<motor gear="120" joint="2a_left_hip_y"/>
|
||||
<motor gear="80" joint="2a_left_knee"/>
|
||||
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||
<motor gear="40" joint="2a_right_elbow"/>
|
||||
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||
<motor gear="40" joint="2a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="3a_abdomen_y"/>
|
||||
<motor gear="40" joint="3a_abdomen_z"/>
|
||||
<motor gear="40" joint="3a_abdomen_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_z"/>
|
||||
<motor gear="120" joint="3a_right_hip_y"/>
|
||||
<motor gear="80" joint="3a_right_knee"/>
|
||||
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||
<motor gear="40" joint="3a_left_hip_x"/>
|
||||
<motor gear="40" joint="3a_left_hip_z"/>
|
||||
<motor gear="120" joint="3a_left_hip_y"/>
|
||||
<motor gear="80" joint="3a_left_knee"/>
|
||||
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||
<motor gear="40" joint="3a_right_elbow"/>
|
||||
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||
<motor gear="40" joint="3a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="4a_abdomen_y"/>
|
||||
<motor gear="40" joint="4a_abdomen_z"/>
|
||||
<motor gear="40" joint="4a_abdomen_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_z"/>
|
||||
<motor gear="120" joint="4a_right_hip_y"/>
|
||||
<motor gear="80" joint="4a_right_knee"/>
|
||||
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||
<motor gear="40" joint="4a_left_hip_x"/>
|
||||
<motor gear="40" joint="4a_left_hip_z"/>
|
||||
<motor gear="120" joint="4a_left_hip_y"/>
|
||||
<motor gear="80" joint="4a_left_knee"/>
|
||||
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||
<motor gear="40" joint="4a_right_elbow"/>
|
||||
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||
<motor gear="40" joint="4a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="5a_abdomen_y"/>
|
||||
<motor gear="40" joint="5a_abdomen_z"/>
|
||||
<motor gear="40" joint="5a_abdomen_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_z"/>
|
||||
<motor gear="120" joint="5a_right_hip_y"/>
|
||||
<motor gear="80" joint="5a_right_knee"/>
|
||||
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||
<motor gear="40" joint="5a_left_hip_x"/>
|
||||
<motor gear="40" joint="5a_left_hip_z"/>
|
||||
<motor gear="120" joint="5a_left_hip_y"/>
|
||||
<motor gear="80" joint="5a_left_knee"/>
|
||||
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||
<motor gear="40" joint="5a_right_elbow"/>
|
||||
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||
<motor gear="40" joint="5a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,671 @@
|
||||
<mujoco model="06 Humanoids">
|
||||
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||
<flag eulerdamp="disable"/>
|
||||
</option>
|
||||
|
||||
<custom>
|
||||
<numeric data="24" name="max_contact_points"/>
|
||||
<numeric data="24" name="max_geom_pairs"/>
|
||||
</custom>
|
||||
|
||||
<size memory="100M"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<default>
|
||||
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||
<default class="big_joint">
|
||||
<joint damping="5" stiffness="10"/>
|
||||
<default class="big_stiff_joint">
|
||||
<joint stiffness="20"/>
|
||||
</default>
|
||||
</default>
|
||||
<default class="body1">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="125"/>
|
||||
</default>
|
||||
<default class="body2">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="123"/>
|
||||
</default>
|
||||
<default class="body3">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="119"/>
|
||||
</default>
|
||||
<default class="body4">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="111"/>
|
||||
</default>
|
||||
<default class="body5">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="95"/>
|
||||
</default>
|
||||
<default class="body6">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="63"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||
|
||||
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="1a_root"/>
|
||||
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="1a_head" pos="0 0 .19">
|
||||
<geom name="1a_head" type="sphere" size=".09"/>
|
||||
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="1a_pelvis" pos="0 0 -.165">
|
||||
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_right_foot" pos="0 0 -.39">
|
||||
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_left_foot" pos="0 0 -.39">
|
||||
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="2a_root"/>
|
||||
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="2a_head" pos="0 0 .19">
|
||||
<geom name="2a_head" type="sphere" size=".09"/>
|
||||
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="2a_pelvis" pos="0 0 -.165">
|
||||
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_right_foot" pos="0 0 -.39">
|
||||
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_left_foot" pos="0 0 -.39">
|
||||
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="3a_root"/>
|
||||
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="3a_head" pos="0 0 .19">
|
||||
<geom name="3a_head" type="sphere" size=".09"/>
|
||||
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="3a_pelvis" pos="0 0 -.165">
|
||||
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_right_foot" pos="0 0 -.39">
|
||||
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_left_foot" pos="0 0 -.39">
|
||||
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="4a_root"/>
|
||||
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="4a_head" pos="0 0 .19">
|
||||
<geom name="4a_head" type="sphere" size=".09"/>
|
||||
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="4a_pelvis" pos="0 0 -.165">
|
||||
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_right_foot" pos="0 0 -.39">
|
||||
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_left_foot" pos="0 0 -.39">
|
||||
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="5a_root"/>
|
||||
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="5a_head" pos="0 0 .19">
|
||||
<geom name="5a_head" type="sphere" size=".09"/>
|
||||
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="5a_pelvis" pos="0 0 -.165">
|
||||
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_right_foot" pos="0 0 -.39">
|
||||
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_left_foot" pos="0 0 -.39">
|
||||
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="6a_torso" pos="-1 3 1.5" childclass="body6">
|
||||
<camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="6a_root"/>
|
||||
<geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="6a_head" pos="0 0 .19">
|
||||
<geom name="6a_head" type="sphere" size=".09"/>
|
||||
<camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="6a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="6a_pelvis" pos="0 0 -.165">
|
||||
<joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="6a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="6a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="6a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="6a_right_foot" pos="0 0 -.39">
|
||||
<joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="6a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="6a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="6a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="6a_left_foot" pos="0 0 -.39">
|
||||
<joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="6a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="6a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="6a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="6a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="6a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="6a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="1a_abdomen_y"/>
|
||||
<motor gear="40" joint="1a_abdomen_z"/>
|
||||
<motor gear="40" joint="1a_abdomen_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_z"/>
|
||||
<motor gear="120" joint="1a_right_hip_y"/>
|
||||
<motor gear="80" joint="1a_right_knee"/>
|
||||
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||
<motor gear="40" joint="1a_left_hip_x"/>
|
||||
<motor gear="40" joint="1a_left_hip_z"/>
|
||||
<motor gear="120" joint="1a_left_hip_y"/>
|
||||
<motor gear="80" joint="1a_left_knee"/>
|
||||
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||
<motor gear="40" joint="1a_right_elbow"/>
|
||||
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||
<motor gear="40" joint="1a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="2a_abdomen_y"/>
|
||||
<motor gear="40" joint="2a_abdomen_z"/>
|
||||
<motor gear="40" joint="2a_abdomen_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_z"/>
|
||||
<motor gear="120" joint="2a_right_hip_y"/>
|
||||
<motor gear="80" joint="2a_right_knee"/>
|
||||
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||
<motor gear="40" joint="2a_left_hip_x"/>
|
||||
<motor gear="40" joint="2a_left_hip_z"/>
|
||||
<motor gear="120" joint="2a_left_hip_y"/>
|
||||
<motor gear="80" joint="2a_left_knee"/>
|
||||
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||
<motor gear="40" joint="2a_right_elbow"/>
|
||||
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||
<motor gear="40" joint="2a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="3a_abdomen_y"/>
|
||||
<motor gear="40" joint="3a_abdomen_z"/>
|
||||
<motor gear="40" joint="3a_abdomen_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_z"/>
|
||||
<motor gear="120" joint="3a_right_hip_y"/>
|
||||
<motor gear="80" joint="3a_right_knee"/>
|
||||
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||
<motor gear="40" joint="3a_left_hip_x"/>
|
||||
<motor gear="40" joint="3a_left_hip_z"/>
|
||||
<motor gear="120" joint="3a_left_hip_y"/>
|
||||
<motor gear="80" joint="3a_left_knee"/>
|
||||
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||
<motor gear="40" joint="3a_right_elbow"/>
|
||||
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||
<motor gear="40" joint="3a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="4a_abdomen_y"/>
|
||||
<motor gear="40" joint="4a_abdomen_z"/>
|
||||
<motor gear="40" joint="4a_abdomen_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_z"/>
|
||||
<motor gear="120" joint="4a_right_hip_y"/>
|
||||
<motor gear="80" joint="4a_right_knee"/>
|
||||
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||
<motor gear="40" joint="4a_left_hip_x"/>
|
||||
<motor gear="40" joint="4a_left_hip_z"/>
|
||||
<motor gear="120" joint="4a_left_hip_y"/>
|
||||
<motor gear="80" joint="4a_left_knee"/>
|
||||
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||
<motor gear="40" joint="4a_right_elbow"/>
|
||||
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||
<motor gear="40" joint="4a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="5a_abdomen_y"/>
|
||||
<motor gear="40" joint="5a_abdomen_z"/>
|
||||
<motor gear="40" joint="5a_abdomen_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_z"/>
|
||||
<motor gear="120" joint="5a_right_hip_y"/>
|
||||
<motor gear="80" joint="5a_right_knee"/>
|
||||
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||
<motor gear="40" joint="5a_left_hip_x"/>
|
||||
<motor gear="40" joint="5a_left_hip_z"/>
|
||||
<motor gear="120" joint="5a_left_hip_y"/>
|
||||
<motor gear="80" joint="5a_left_knee"/>
|
||||
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||
<motor gear="40" joint="5a_right_elbow"/>
|
||||
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||
<motor gear="40" joint="5a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="6a_abdomen_y"/>
|
||||
<motor gear="40" joint="6a_abdomen_z"/>
|
||||
<motor gear="40" joint="6a_abdomen_x"/>
|
||||
<motor gear="40" joint="6a_right_hip_x"/>
|
||||
<motor gear="40" joint="6a_right_hip_z"/>
|
||||
<motor gear="120" joint="6a_right_hip_y"/>
|
||||
<motor gear="80" joint="6a_right_knee"/>
|
||||
<motor gear="20" joint="6a_right_ankle_x"/>
|
||||
<motor gear="20" joint="6a_right_ankle_y"/>
|
||||
<motor gear="40" joint="6a_left_hip_x"/>
|
||||
<motor gear="40" joint="6a_left_hip_z"/>
|
||||
<motor gear="120" joint="6a_left_hip_y"/>
|
||||
<motor gear="80" joint="6a_left_knee"/>
|
||||
<motor gear="20" joint="6a_left_ankle_x"/>
|
||||
<motor gear="20" joint="6a_left_ankle_y"/>
|
||||
<motor gear="20" joint="6a_right_shoulder1"/>
|
||||
<motor gear="20" joint="6a_right_shoulder2"/>
|
||||
<motor gear="40" joint="6a_right_elbow"/>
|
||||
<motor gear="20" joint="6a_left_shoulder1"/>
|
||||
<motor gear="20" joint="6a_left_shoulder2"/>
|
||||
<motor gear="40" joint="6a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,775 @@
|
||||
<mujoco model="07 Humanoids">
|
||||
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||
<flag eulerdamp="disable"/>
|
||||
</option>
|
||||
|
||||
<custom>
|
||||
<numeric data="28" name="max_contact_points"/>
|
||||
<numeric data="28" name="max_geom_pairs"/>
|
||||
</custom>
|
||||
|
||||
<size memory="100M"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<default>
|
||||
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||
<default class="big_joint">
|
||||
<joint damping="5" stiffness="10"/>
|
||||
<default class="big_stiff_joint">
|
||||
<joint stiffness="20"/>
|
||||
</default>
|
||||
</default>
|
||||
<default class="body1">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="253"/>
|
||||
</default>
|
||||
<default class="body2">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="251"/>
|
||||
</default>
|
||||
<default class="body3">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="247"/>
|
||||
</default>
|
||||
<default class="body4">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="239"/>
|
||||
</default>
|
||||
<default class="body5">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="223"/>
|
||||
</default>
|
||||
<default class="body6">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="191"/>
|
||||
</default>
|
||||
<default class="body7">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="127"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||
|
||||
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="1a_root"/>
|
||||
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="1a_head" pos="0 0 .19">
|
||||
<geom name="1a_head" type="sphere" size=".09"/>
|
||||
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="1a_pelvis" pos="0 0 -.165">
|
||||
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_right_foot" pos="0 0 -.39">
|
||||
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_left_foot" pos="0 0 -.39">
|
||||
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="2a_root"/>
|
||||
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="2a_head" pos="0 0 .19">
|
||||
<geom name="2a_head" type="sphere" size=".09"/>
|
||||
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="2a_pelvis" pos="0 0 -.165">
|
||||
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_right_foot" pos="0 0 -.39">
|
||||
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_left_foot" pos="0 0 -.39">
|
||||
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="3a_root"/>
|
||||
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="3a_head" pos="0 0 .19">
|
||||
<geom name="3a_head" type="sphere" size=".09"/>
|
||||
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="3a_pelvis" pos="0 0 -.165">
|
||||
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_right_foot" pos="0 0 -.39">
|
||||
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_left_foot" pos="0 0 -.39">
|
||||
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="4a_root"/>
|
||||
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="4a_head" pos="0 0 .19">
|
||||
<geom name="4a_head" type="sphere" size=".09"/>
|
||||
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="4a_pelvis" pos="0 0 -.165">
|
||||
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_right_foot" pos="0 0 -.39">
|
||||
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_left_foot" pos="0 0 -.39">
|
||||
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="5a_root"/>
|
||||
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="5a_head" pos="0 0 .19">
|
||||
<geom name="5a_head" type="sphere" size=".09"/>
|
||||
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="5a_pelvis" pos="0 0 -.165">
|
||||
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_right_foot" pos="0 0 -.39">
|
||||
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_left_foot" pos="0 0 -.39">
|
||||
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="6a_torso" pos="-1 3 1.5" childclass="body6">
|
||||
<camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="6a_root"/>
|
||||
<geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="6a_head" pos="0 0 .19">
|
||||
<geom name="6a_head" type="sphere" size=".09"/>
|
||||
<camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="6a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="6a_pelvis" pos="0 0 -.165">
|
||||
<joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="6a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="6a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="6a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="6a_right_foot" pos="0 0 -.39">
|
||||
<joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="6a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="6a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="6a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="6a_left_foot" pos="0 0 -.39">
|
||||
<joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="6a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="6a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="6a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="6a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="6a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="6a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
|
||||
<camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="7a_root"/>
|
||||
<geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="7a_head" pos="0 0 .19">
|
||||
<geom name="7a_head" type="sphere" size=".09"/>
|
||||
<camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="7a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="7a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="7a_pelvis" pos="0 0 -.165">
|
||||
<joint name="7a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="7a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="7a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="7a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="7a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="7a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="7a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="7a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="7a_right_foot" pos="0 0 -.39">
|
||||
<joint name="7a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="7a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="7a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="7a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="7a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="7a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="7a_left_foot" pos="0 0 -.39">
|
||||
<joint name="7a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="7a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="7a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="7a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="7a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="7a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="7a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="7a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="1a_abdomen_y"/>
|
||||
<motor gear="40" joint="1a_abdomen_z"/>
|
||||
<motor gear="40" joint="1a_abdomen_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_z"/>
|
||||
<motor gear="120" joint="1a_right_hip_y"/>
|
||||
<motor gear="80" joint="1a_right_knee"/>
|
||||
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||
<motor gear="40" joint="1a_left_hip_x"/>
|
||||
<motor gear="40" joint="1a_left_hip_z"/>
|
||||
<motor gear="120" joint="1a_left_hip_y"/>
|
||||
<motor gear="80" joint="1a_left_knee"/>
|
||||
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||
<motor gear="40" joint="1a_right_elbow"/>
|
||||
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||
<motor gear="40" joint="1a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="2a_abdomen_y"/>
|
||||
<motor gear="40" joint="2a_abdomen_z"/>
|
||||
<motor gear="40" joint="2a_abdomen_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_z"/>
|
||||
<motor gear="120" joint="2a_right_hip_y"/>
|
||||
<motor gear="80" joint="2a_right_knee"/>
|
||||
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||
<motor gear="40" joint="2a_left_hip_x"/>
|
||||
<motor gear="40" joint="2a_left_hip_z"/>
|
||||
<motor gear="120" joint="2a_left_hip_y"/>
|
||||
<motor gear="80" joint="2a_left_knee"/>
|
||||
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||
<motor gear="40" joint="2a_right_elbow"/>
|
||||
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||
<motor gear="40" joint="2a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="3a_abdomen_y"/>
|
||||
<motor gear="40" joint="3a_abdomen_z"/>
|
||||
<motor gear="40" joint="3a_abdomen_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_z"/>
|
||||
<motor gear="120" joint="3a_right_hip_y"/>
|
||||
<motor gear="80" joint="3a_right_knee"/>
|
||||
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||
<motor gear="40" joint="3a_left_hip_x"/>
|
||||
<motor gear="40" joint="3a_left_hip_z"/>
|
||||
<motor gear="120" joint="3a_left_hip_y"/>
|
||||
<motor gear="80" joint="3a_left_knee"/>
|
||||
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||
<motor gear="40" joint="3a_right_elbow"/>
|
||||
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||
<motor gear="40" joint="3a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="4a_abdomen_y"/>
|
||||
<motor gear="40" joint="4a_abdomen_z"/>
|
||||
<motor gear="40" joint="4a_abdomen_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_z"/>
|
||||
<motor gear="120" joint="4a_right_hip_y"/>
|
||||
<motor gear="80" joint="4a_right_knee"/>
|
||||
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||
<motor gear="40" joint="4a_left_hip_x"/>
|
||||
<motor gear="40" joint="4a_left_hip_z"/>
|
||||
<motor gear="120" joint="4a_left_hip_y"/>
|
||||
<motor gear="80" joint="4a_left_knee"/>
|
||||
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||
<motor gear="40" joint="4a_right_elbow"/>
|
||||
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||
<motor gear="40" joint="4a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="5a_abdomen_y"/>
|
||||
<motor gear="40" joint="5a_abdomen_z"/>
|
||||
<motor gear="40" joint="5a_abdomen_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_z"/>
|
||||
<motor gear="120" joint="5a_right_hip_y"/>
|
||||
<motor gear="80" joint="5a_right_knee"/>
|
||||
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||
<motor gear="40" joint="5a_left_hip_x"/>
|
||||
<motor gear="40" joint="5a_left_hip_z"/>
|
||||
<motor gear="120" joint="5a_left_hip_y"/>
|
||||
<motor gear="80" joint="5a_left_knee"/>
|
||||
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||
<motor gear="40" joint="5a_right_elbow"/>
|
||||
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||
<motor gear="40" joint="5a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="6a_abdomen_y"/>
|
||||
<motor gear="40" joint="6a_abdomen_z"/>
|
||||
<motor gear="40" joint="6a_abdomen_x"/>
|
||||
<motor gear="40" joint="6a_right_hip_x"/>
|
||||
<motor gear="40" joint="6a_right_hip_z"/>
|
||||
<motor gear="120" joint="6a_right_hip_y"/>
|
||||
<motor gear="80" joint="6a_right_knee"/>
|
||||
<motor gear="20" joint="6a_right_ankle_x"/>
|
||||
<motor gear="20" joint="6a_right_ankle_y"/>
|
||||
<motor gear="40" joint="6a_left_hip_x"/>
|
||||
<motor gear="40" joint="6a_left_hip_z"/>
|
||||
<motor gear="120" joint="6a_left_hip_y"/>
|
||||
<motor gear="80" joint="6a_left_knee"/>
|
||||
<motor gear="20" joint="6a_left_ankle_x"/>
|
||||
<motor gear="20" joint="6a_left_ankle_y"/>
|
||||
<motor gear="20" joint="6a_right_shoulder1"/>
|
||||
<motor gear="20" joint="6a_right_shoulder2"/>
|
||||
<motor gear="40" joint="6a_right_elbow"/>
|
||||
<motor gear="20" joint="6a_left_shoulder1"/>
|
||||
<motor gear="20" joint="6a_left_shoulder2"/>
|
||||
<motor gear="40" joint="6a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="7a_abdomen_y"/>
|
||||
<motor gear="40" joint="7a_abdomen_z"/>
|
||||
<motor gear="40" joint="7a_abdomen_x"/>
|
||||
<motor gear="40" joint="7a_right_hip_x"/>
|
||||
<motor gear="40" joint="7a_right_hip_z"/>
|
||||
<motor gear="120" joint="7a_right_hip_y"/>
|
||||
<motor gear="80" joint="7a_right_knee"/>
|
||||
<motor gear="20" joint="7a_right_ankle_x"/>
|
||||
<motor gear="20" joint="7a_right_ankle_y"/>
|
||||
<motor gear="40" joint="7a_left_hip_x"/>
|
||||
<motor gear="40" joint="7a_left_hip_z"/>
|
||||
<motor gear="120" joint="7a_left_hip_y"/>
|
||||
<motor gear="80" joint="7a_left_knee"/>
|
||||
<motor gear="20" joint="7a_left_ankle_x"/>
|
||||
<motor gear="20" joint="7a_left_ankle_y"/>
|
||||
<motor gear="20" joint="7a_right_shoulder1"/>
|
||||
<motor gear="20" joint="7a_right_shoulder2"/>
|
||||
<motor gear="40" joint="7a_right_elbow"/>
|
||||
<motor gear="20" joint="7a_left_shoulder1"/>
|
||||
<motor gear="20" joint="7a_left_shoulder2"/>
|
||||
<motor gear="40" joint="7a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,879 @@
|
||||
<mujoco model="08 Humanoids">
|
||||
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||
<flag eulerdamp="disable"/>
|
||||
</option>
|
||||
|
||||
<custom>
|
||||
<numeric data="32" name="max_contact_points"/>
|
||||
<numeric data="32" name="max_geom_pairs"/>
|
||||
</custom>
|
||||
|
||||
<size memory="100M"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<default>
|
||||
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||
<default class="big_joint">
|
||||
<joint damping="5" stiffness="10"/>
|
||||
<default class="big_stiff_joint">
|
||||
<joint stiffness="20"/>
|
||||
</default>
|
||||
</default>
|
||||
<default class="body1">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="509"/>
|
||||
</default>
|
||||
<default class="body2">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="507"/>
|
||||
</default>
|
||||
<default class="body3">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="503"/>
|
||||
</default>
|
||||
<default class="body4">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="495"/>
|
||||
</default>
|
||||
<default class="body5">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="479"/>
|
||||
</default>
|
||||
<default class="body6">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="447"/>
|
||||
</default>
|
||||
<default class="body7">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="383"/>
|
||||
</default>
|
||||
<default class="body8">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="256" conaffinity="255"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||
|
||||
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="1a_root"/>
|
||||
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="1a_head" pos="0 0 .19">
|
||||
<geom name="1a_head" type="sphere" size=".09"/>
|
||||
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="1a_pelvis" pos="0 0 -.165">
|
||||
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_right_foot" pos="0 0 -.39">
|
||||
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_left_foot" pos="0 0 -.39">
|
||||
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="2a_root"/>
|
||||
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="2a_head" pos="0 0 .19">
|
||||
<geom name="2a_head" type="sphere" size=".09"/>
|
||||
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="2a_pelvis" pos="0 0 -.165">
|
||||
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_right_foot" pos="0 0 -.39">
|
||||
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_left_foot" pos="0 0 -.39">
|
||||
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="3a_root"/>
|
||||
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="3a_head" pos="0 0 .19">
|
||||
<geom name="3a_head" type="sphere" size=".09"/>
|
||||
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="3a_pelvis" pos="0 0 -.165">
|
||||
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_right_foot" pos="0 0 -.39">
|
||||
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_left_foot" pos="0 0 -.39">
|
||||
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="4a_root"/>
|
||||
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="4a_head" pos="0 0 .19">
|
||||
<geom name="4a_head" type="sphere" size=".09"/>
|
||||
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="4a_pelvis" pos="0 0 -.165">
|
||||
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_right_foot" pos="0 0 -.39">
|
||||
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_left_foot" pos="0 0 -.39">
|
||||
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="5a_root"/>
|
||||
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="5a_head" pos="0 0 .19">
|
||||
<geom name="5a_head" type="sphere" size=".09"/>
|
||||
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="5a_pelvis" pos="0 0 -.165">
|
||||
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_right_foot" pos="0 0 -.39">
|
||||
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_left_foot" pos="0 0 -.39">
|
||||
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="6a_torso" pos="-1 3 1.5" childclass="body6">
|
||||
<camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="6a_root"/>
|
||||
<geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="6a_head" pos="0 0 .19">
|
||||
<geom name="6a_head" type="sphere" size=".09"/>
|
||||
<camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="6a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="6a_pelvis" pos="0 0 -.165">
|
||||
<joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="6a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="6a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="6a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="6a_right_foot" pos="0 0 -.39">
|
||||
<joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="6a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="6a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="6a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="6a_left_foot" pos="0 0 -.39">
|
||||
<joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="6a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="6a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="6a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="6a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="6a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="6a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
|
||||
<camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="7a_root"/>
|
||||
<geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="7a_head" pos="0 0 .19">
|
||||
<geom name="7a_head" type="sphere" size=".09"/>
|
||||
<camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="7a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="7a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="7a_pelvis" pos="0 0 -.165">
|
||||
<joint name="7a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="7a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="7a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="7a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="7a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="7a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="7a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="7a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="7a_right_foot" pos="0 0 -.39">
|
||||
<joint name="7a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="7a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="7a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="7a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="7a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="7a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="7a_left_foot" pos="0 0 -.39">
|
||||
<joint name="7a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="7a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="7a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="7a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="7a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="7a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="7a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="7a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="8a_torso" pos="-1 4 1.5" childclass="body8">
|
||||
<camera name="8a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="8a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="8a_root"/>
|
||||
<geom name="8a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="8a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="8a_head" pos="0 0 .19">
|
||||
<geom name="8a_head" type="sphere" size=".09"/>
|
||||
<camera name="8a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="8a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="8a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="8a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="8a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="8a_pelvis" pos="0 0 -.165">
|
||||
<joint name="8a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="8a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="8a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="8a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="8a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="8a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="8a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="8a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="8a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="8a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="8a_right_foot" pos="0 0 -.39">
|
||||
<joint name="8a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="8a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="8a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="8a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="8a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="8a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="8a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="8a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="8a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="8a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="8a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="8a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="8a_left_foot" pos="0 0 -.39">
|
||||
<joint name="8a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="8a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="8a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="8a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="8a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="8a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="8a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="8a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="8a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="8a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="8a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="8a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="8a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="8a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="8a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="8a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="8a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="8a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="8a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="8a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="8a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="8a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="1a_abdomen_y"/>
|
||||
<motor gear="40" joint="1a_abdomen_z"/>
|
||||
<motor gear="40" joint="1a_abdomen_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_z"/>
|
||||
<motor gear="120" joint="1a_right_hip_y"/>
|
||||
<motor gear="80" joint="1a_right_knee"/>
|
||||
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||
<motor gear="40" joint="1a_left_hip_x"/>
|
||||
<motor gear="40" joint="1a_left_hip_z"/>
|
||||
<motor gear="120" joint="1a_left_hip_y"/>
|
||||
<motor gear="80" joint="1a_left_knee"/>
|
||||
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||
<motor gear="40" joint="1a_right_elbow"/>
|
||||
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||
<motor gear="40" joint="1a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="2a_abdomen_y"/>
|
||||
<motor gear="40" joint="2a_abdomen_z"/>
|
||||
<motor gear="40" joint="2a_abdomen_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_z"/>
|
||||
<motor gear="120" joint="2a_right_hip_y"/>
|
||||
<motor gear="80" joint="2a_right_knee"/>
|
||||
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||
<motor gear="40" joint="2a_left_hip_x"/>
|
||||
<motor gear="40" joint="2a_left_hip_z"/>
|
||||
<motor gear="120" joint="2a_left_hip_y"/>
|
||||
<motor gear="80" joint="2a_left_knee"/>
|
||||
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||
<motor gear="40" joint="2a_right_elbow"/>
|
||||
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||
<motor gear="40" joint="2a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="3a_abdomen_y"/>
|
||||
<motor gear="40" joint="3a_abdomen_z"/>
|
||||
<motor gear="40" joint="3a_abdomen_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_z"/>
|
||||
<motor gear="120" joint="3a_right_hip_y"/>
|
||||
<motor gear="80" joint="3a_right_knee"/>
|
||||
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||
<motor gear="40" joint="3a_left_hip_x"/>
|
||||
<motor gear="40" joint="3a_left_hip_z"/>
|
||||
<motor gear="120" joint="3a_left_hip_y"/>
|
||||
<motor gear="80" joint="3a_left_knee"/>
|
||||
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||
<motor gear="40" joint="3a_right_elbow"/>
|
||||
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||
<motor gear="40" joint="3a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="4a_abdomen_y"/>
|
||||
<motor gear="40" joint="4a_abdomen_z"/>
|
||||
<motor gear="40" joint="4a_abdomen_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_z"/>
|
||||
<motor gear="120" joint="4a_right_hip_y"/>
|
||||
<motor gear="80" joint="4a_right_knee"/>
|
||||
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||
<motor gear="40" joint="4a_left_hip_x"/>
|
||||
<motor gear="40" joint="4a_left_hip_z"/>
|
||||
<motor gear="120" joint="4a_left_hip_y"/>
|
||||
<motor gear="80" joint="4a_left_knee"/>
|
||||
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||
<motor gear="40" joint="4a_right_elbow"/>
|
||||
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||
<motor gear="40" joint="4a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="5a_abdomen_y"/>
|
||||
<motor gear="40" joint="5a_abdomen_z"/>
|
||||
<motor gear="40" joint="5a_abdomen_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_z"/>
|
||||
<motor gear="120" joint="5a_right_hip_y"/>
|
||||
<motor gear="80" joint="5a_right_knee"/>
|
||||
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||
<motor gear="40" joint="5a_left_hip_x"/>
|
||||
<motor gear="40" joint="5a_left_hip_z"/>
|
||||
<motor gear="120" joint="5a_left_hip_y"/>
|
||||
<motor gear="80" joint="5a_left_knee"/>
|
||||
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||
<motor gear="40" joint="5a_right_elbow"/>
|
||||
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||
<motor gear="40" joint="5a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="6a_abdomen_y"/>
|
||||
<motor gear="40" joint="6a_abdomen_z"/>
|
||||
<motor gear="40" joint="6a_abdomen_x"/>
|
||||
<motor gear="40" joint="6a_right_hip_x"/>
|
||||
<motor gear="40" joint="6a_right_hip_z"/>
|
||||
<motor gear="120" joint="6a_right_hip_y"/>
|
||||
<motor gear="80" joint="6a_right_knee"/>
|
||||
<motor gear="20" joint="6a_right_ankle_x"/>
|
||||
<motor gear="20" joint="6a_right_ankle_y"/>
|
||||
<motor gear="40" joint="6a_left_hip_x"/>
|
||||
<motor gear="40" joint="6a_left_hip_z"/>
|
||||
<motor gear="120" joint="6a_left_hip_y"/>
|
||||
<motor gear="80" joint="6a_left_knee"/>
|
||||
<motor gear="20" joint="6a_left_ankle_x"/>
|
||||
<motor gear="20" joint="6a_left_ankle_y"/>
|
||||
<motor gear="20" joint="6a_right_shoulder1"/>
|
||||
<motor gear="20" joint="6a_right_shoulder2"/>
|
||||
<motor gear="40" joint="6a_right_elbow"/>
|
||||
<motor gear="20" joint="6a_left_shoulder1"/>
|
||||
<motor gear="20" joint="6a_left_shoulder2"/>
|
||||
<motor gear="40" joint="6a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="7a_abdomen_y"/>
|
||||
<motor gear="40" joint="7a_abdomen_z"/>
|
||||
<motor gear="40" joint="7a_abdomen_x"/>
|
||||
<motor gear="40" joint="7a_right_hip_x"/>
|
||||
<motor gear="40" joint="7a_right_hip_z"/>
|
||||
<motor gear="120" joint="7a_right_hip_y"/>
|
||||
<motor gear="80" joint="7a_right_knee"/>
|
||||
<motor gear="20" joint="7a_right_ankle_x"/>
|
||||
<motor gear="20" joint="7a_right_ankle_y"/>
|
||||
<motor gear="40" joint="7a_left_hip_x"/>
|
||||
<motor gear="40" joint="7a_left_hip_z"/>
|
||||
<motor gear="120" joint="7a_left_hip_y"/>
|
||||
<motor gear="80" joint="7a_left_knee"/>
|
||||
<motor gear="20" joint="7a_left_ankle_x"/>
|
||||
<motor gear="20" joint="7a_left_ankle_y"/>
|
||||
<motor gear="20" joint="7a_right_shoulder1"/>
|
||||
<motor gear="20" joint="7a_right_shoulder2"/>
|
||||
<motor gear="40" joint="7a_right_elbow"/>
|
||||
<motor gear="20" joint="7a_left_shoulder1"/>
|
||||
<motor gear="20" joint="7a_left_shoulder2"/>
|
||||
<motor gear="40" joint="7a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="8a_abdomen_y"/>
|
||||
<motor gear="40" joint="8a_abdomen_z"/>
|
||||
<motor gear="40" joint="8a_abdomen_x"/>
|
||||
<motor gear="40" joint="8a_right_hip_x"/>
|
||||
<motor gear="40" joint="8a_right_hip_z"/>
|
||||
<motor gear="120" joint="8a_right_hip_y"/>
|
||||
<motor gear="80" joint="8a_right_knee"/>
|
||||
<motor gear="20" joint="8a_right_ankle_x"/>
|
||||
<motor gear="20" joint="8a_right_ankle_y"/>
|
||||
<motor gear="40" joint="8a_left_hip_x"/>
|
||||
<motor gear="40" joint="8a_left_hip_z"/>
|
||||
<motor gear="120" joint="8a_left_hip_y"/>
|
||||
<motor gear="80" joint="8a_left_knee"/>
|
||||
<motor gear="20" joint="8a_left_ankle_x"/>
|
||||
<motor gear="20" joint="8a_left_ankle_y"/>
|
||||
<motor gear="20" joint="8a_right_shoulder1"/>
|
||||
<motor gear="20" joint="8a_right_shoulder2"/>
|
||||
<motor gear="40" joint="8a_right_elbow"/>
|
||||
<motor gear="20" joint="8a_left_shoulder1"/>
|
||||
<motor gear="20" joint="8a_left_shoulder2"/>
|
||||
<motor gear="40" joint="8a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -0,0 +1,983 @@
|
||||
<mujoco model="09 Humanoids">
|
||||
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
|
||||
<flag eulerdamp="disable"/>
|
||||
</option>
|
||||
|
||||
<custom>
|
||||
<numeric data="36" name="max_contact_points"/>
|
||||
<numeric data="36" name="max_geom_pairs"/>
|
||||
</custom>
|
||||
|
||||
<size memory="100M"/>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
|
||||
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
|
||||
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
|
||||
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
|
||||
</asset>
|
||||
|
||||
<default>
|
||||
<motor ctrlrange="-1 1" ctrllimited="true"/>
|
||||
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
|
||||
<default class="big_joint">
|
||||
<joint damping="5" stiffness="10"/>
|
||||
<default class="big_stiff_joint">
|
||||
<joint stiffness="20"/>
|
||||
</default>
|
||||
</default>
|
||||
<default class="body1">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="2" conaffinity="1021"/>
|
||||
</default>
|
||||
<default class="body2">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="4" conaffinity="1019"/>
|
||||
</default>
|
||||
<default class="body3">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="8" conaffinity="1015"/>
|
||||
</default>
|
||||
<default class="body4">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="16" conaffinity="1007"/>
|
||||
</default>
|
||||
<default class="body5">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="32" conaffinity="991"/>
|
||||
</default>
|
||||
<default class="body6">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="64" conaffinity="959"/>
|
||||
</default>
|
||||
<default class="body7">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="128" conaffinity="895"/>
|
||||
</default>
|
||||
<default class="body8">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="256" conaffinity="767"/>
|
||||
</default>
|
||||
<default class="body9">
|
||||
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="512" conaffinity="511"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<map force="0.1" zfar="30"/>
|
||||
<rgba haze="0.15 0.25 0.35 1"/>
|
||||
<quality shadowsize="4096"/>
|
||||
<global offwidth="800" offheight="800"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
|
||||
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
|
||||
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
|
||||
|
||||
<body name="1a_torso" pos="-1 0 1.5" childclass="body1">
|
||||
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="1a_root"/>
|
||||
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="1a_head" pos="0 0 .19">
|
||||
<geom name="1a_head" type="sphere" size=".09"/>
|
||||
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="1a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="1a_pelvis" pos="0 0 -.165">
|
||||
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="1a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="1a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_right_foot" pos="0 0 -.39">
|
||||
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="1a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="1a_left_foot" pos="0 0 -.39">
|
||||
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="1a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="1a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="1a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="2a_torso" pos="-1 1 1.5" childclass="body2">
|
||||
<camera name="2a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="2a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="2a_root"/>
|
||||
<geom name="2a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="2a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="2a_head" pos="0 0 .19">
|
||||
<geom name="2a_head" type="sphere" size=".09"/>
|
||||
<camera name="2a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="2a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="2a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="2a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="2a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="2a_pelvis" pos="0 0 -.165">
|
||||
<joint name="2a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="2a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="2a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_right_foot" pos="0 0 -.39">
|
||||
<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="2a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="2a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="2a_left_foot" pos="0 0 -.39">
|
||||
<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="2a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="2a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="2a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="2a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="2a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="2a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="2a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="3a_torso" pos="-1 -1 1.5" childclass="body3">
|
||||
<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="3a_root"/>
|
||||
<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="3a_head" pos="0 0 .19">
|
||||
<geom name="3a_head" type="sphere" size=".09"/>
|
||||
<camera name="3a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="3a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="3a_pelvis" pos="0 0 -.165">
|
||||
<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="3a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="3a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_right_foot" pos="0 0 -.39">
|
||||
<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="3a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="3a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="3a_left_foot" pos="0 0 -.39">
|
||||
<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="3a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="3a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="3a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="3a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="3a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="3a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="3a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="4a_torso" pos="-1 2 1.5" childclass="body4">
|
||||
<camera name="4a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="4a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="4a_root"/>
|
||||
<geom name="4a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="4a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="4a_head" pos="0 0 .19">
|
||||
<geom name="4a_head" type="sphere" size=".09"/>
|
||||
<camera name="4a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="4a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="4a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="4a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="4a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="4a_pelvis" pos="0 0 -.165">
|
||||
<joint name="4a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="4a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="4a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="4a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="4a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="4a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_right_foot" pos="0 0 -.39">
|
||||
<joint name="4a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="4a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="4a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="4a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="4a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="4a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="4a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="4a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="4a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="4a_left_foot" pos="0 0 -.39">
|
||||
<joint name="4a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="4a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="4a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="4a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="4a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="4a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="4a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="4a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="4a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="4a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="4a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="4a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="4a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="4a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="4a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="4a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="4a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="4a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="4a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="4a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="5a_torso" pos="-1 -2 1.5" childclass="body5">
|
||||
<camera name="5a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="5a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="5a_root"/>
|
||||
<geom name="5a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="5a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="5a_head" pos="0 0 .19">
|
||||
<geom name="5a_head" type="sphere" size=".09"/>
|
||||
<camera name="5a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="5a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="5a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="5a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="5a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="5a_pelvis" pos="0 0 -.165">
|
||||
<joint name="5a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="5a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="5a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="5a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="5a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="5a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_right_foot" pos="0 0 -.39">
|
||||
<joint name="5a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="5a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="5a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="5a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="5a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="5a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="5a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="5a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="5a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="5a_left_foot" pos="0 0 -.39">
|
||||
<joint name="5a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="5a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="5a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="5a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="5a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="5a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="5a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="5a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="5a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="5a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="5a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="5a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="5a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="5a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="5a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="5a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="5a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="5a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="5a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="5a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="6a_torso" pos="-1 3 1.5" childclass="body6">
|
||||
<camera name="6a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="6a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="6a_root"/>
|
||||
<geom name="6a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="6a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="6a_head" pos="0 0 .19">
|
||||
<geom name="6a_head" type="sphere" size=".09"/>
|
||||
<camera name="6a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="6a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="6a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="6a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="6a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="6a_pelvis" pos="0 0 -.165">
|
||||
<joint name="6a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="6a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="6a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="6a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="6a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="6a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="6a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="6a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="6a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="6a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="6a_right_foot" pos="0 0 -.39">
|
||||
<joint name="6a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="6a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="6a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="6a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="6a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="6a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="6a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="6a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="6a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="6a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="6a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="6a_left_foot" pos="0 0 -.39">
|
||||
<joint name="6a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="6a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="6a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="6a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="6a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="6a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="6a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="6a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="6a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="6a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="6a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="6a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="6a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="6a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="6a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="6a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="6a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="6a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="6a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="6a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="6a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="7a_torso" pos="-1 -3 1.5" childclass="body7">
|
||||
<camera name="7a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="7a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="7a_root"/>
|
||||
<geom name="7a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="7a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="7a_head" pos="0 0 .19">
|
||||
<geom name="7a_head" type="sphere" size=".09"/>
|
||||
<camera name="7a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="7a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="7a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="7a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="7a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="7a_pelvis" pos="0 0 -.165">
|
||||
<joint name="7a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="7a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="7a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="7a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="7a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="7a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="7a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="7a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="7a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="7a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="7a_right_foot" pos="0 0 -.39">
|
||||
<joint name="7a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="7a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="7a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="7a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="7a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="7a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="7a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="7a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="7a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="7a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="7a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="7a_left_foot" pos="0 0 -.39">
|
||||
<joint name="7a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="7a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="7a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="7a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="7a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="7a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="7a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="7a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="7a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="7a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="7a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="7a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="7a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="7a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="7a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="7a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="7a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="7a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="7a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="7a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="7a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="8a_torso" pos="-1 4 1.5" childclass="body8">
|
||||
<camera name="8a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="8a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="8a_root"/>
|
||||
<geom name="8a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="8a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="8a_head" pos="0 0 .19">
|
||||
<geom name="8a_head" type="sphere" size=".09"/>
|
||||
<camera name="8a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="8a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="8a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="8a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="8a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="8a_pelvis" pos="0 0 -.165">
|
||||
<joint name="8a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="8a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="8a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="8a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="8a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="8a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="8a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="8a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="8a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="8a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="8a_right_foot" pos="0 0 -.39">
|
||||
<joint name="8a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="8a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="8a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="8a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="8a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="8a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="8a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="8a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="8a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="8a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="8a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="8a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="8a_left_foot" pos="0 0 -.39">
|
||||
<joint name="8a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="8a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="8a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="8a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="8a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="8a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="8a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="8a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="8a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="8a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="8a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="8a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="8a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="8a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="8a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="8a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="8a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="8a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="8a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="8a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="8a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="8a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<body name="9a_torso" pos="-1 -4 1.5" childclass="body9">
|
||||
<camera name="9a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
||||
<camera name="9a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
||||
<freejoint name="9a_root"/>
|
||||
<geom name="9a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
||||
<geom name="9a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
||||
<body name="9a_head" pos="0 0 .19">
|
||||
<geom name="9a_head" type="sphere" size=".09"/>
|
||||
<camera name="9a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
||||
</body>
|
||||
<body name="9a_lower_waist" pos="-.01 0 -.26">
|
||||
<geom name="9a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
||||
<joint name="9a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
||||
<joint name="9a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
||||
<body name="9a_pelvis" pos="0 0 -.165">
|
||||
<joint name="9a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
||||
<geom name="9a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
||||
<body name="9a_right_thigh" pos="0 -.1 -.04">
|
||||
<joint name="9a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="9a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
||||
<joint name="9a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="9a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
||||
<body name="9a_right_shin" pos="0 .01 -.403">
|
||||
<joint name="9a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="9a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="9a_right_foot" pos="0 0 -.39">
|
||||
<joint name="9a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="9a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="9a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
||||
<geom name="9a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="9a_left_thigh" pos="0 .1 -.04">
|
||||
<joint name="9a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
||||
<joint name="9a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
||||
<joint name="9a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
||||
<geom name="9a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
||||
<body name="9a_left_shin" pos="0 -.01 -.403">
|
||||
<joint name="9a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
||||
<geom name="9a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
||||
<body name="9a_left_foot" pos="0 0 -.39">
|
||||
<joint name="9a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
||||
<joint name="9a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
||||
<geom name="9a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
||||
<geom name="9a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="9a_right_upper_arm" pos="0 -.17 .06">
|
||||
<joint name="9a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
||||
<joint name="9a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
||||
<geom name="9a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
||||
<body name="9a_right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint name="9a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
||||
<geom name="9a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
||||
<body name="9a_right_hand" pos=".18 .18 .18">
|
||||
<geom name="9a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="9a_left_upper_arm" pos="0 .17 .06">
|
||||
<joint name="9a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
||||
<joint name="9a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
||||
<geom name="9a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
||||
<body name="9a_left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint name="9a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
||||
<geom name="9a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
||||
<body name="9a_left_hand" pos=".18 -.18 .18">
|
||||
<geom name="9a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="1a_abdomen_y"/>
|
||||
<motor gear="40" joint="1a_abdomen_z"/>
|
||||
<motor gear="40" joint="1a_abdomen_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_x"/>
|
||||
<motor gear="40" joint="1a_right_hip_z"/>
|
||||
<motor gear="120" joint="1a_right_hip_y"/>
|
||||
<motor gear="80" joint="1a_right_knee"/>
|
||||
<motor gear="20" joint="1a_right_ankle_x"/>
|
||||
<motor gear="20" joint="1a_right_ankle_y"/>
|
||||
<motor gear="40" joint="1a_left_hip_x"/>
|
||||
<motor gear="40" joint="1a_left_hip_z"/>
|
||||
<motor gear="120" joint="1a_left_hip_y"/>
|
||||
<motor gear="80" joint="1a_left_knee"/>
|
||||
<motor gear="20" joint="1a_left_ankle_x"/>
|
||||
<motor gear="20" joint="1a_left_ankle_y"/>
|
||||
<motor gear="20" joint="1a_right_shoulder1"/>
|
||||
<motor gear="20" joint="1a_right_shoulder2"/>
|
||||
<motor gear="40" joint="1a_right_elbow"/>
|
||||
<motor gear="20" joint="1a_left_shoulder1"/>
|
||||
<motor gear="20" joint="1a_left_shoulder2"/>
|
||||
<motor gear="40" joint="1a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="2a_abdomen_y"/>
|
||||
<motor gear="40" joint="2a_abdomen_z"/>
|
||||
<motor gear="40" joint="2a_abdomen_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_x"/>
|
||||
<motor gear="40" joint="2a_right_hip_z"/>
|
||||
<motor gear="120" joint="2a_right_hip_y"/>
|
||||
<motor gear="80" joint="2a_right_knee"/>
|
||||
<motor gear="20" joint="2a_right_ankle_x"/>
|
||||
<motor gear="20" joint="2a_right_ankle_y"/>
|
||||
<motor gear="40" joint="2a_left_hip_x"/>
|
||||
<motor gear="40" joint="2a_left_hip_z"/>
|
||||
<motor gear="120" joint="2a_left_hip_y"/>
|
||||
<motor gear="80" joint="2a_left_knee"/>
|
||||
<motor gear="20" joint="2a_left_ankle_x"/>
|
||||
<motor gear="20" joint="2a_left_ankle_y"/>
|
||||
<motor gear="20" joint="2a_right_shoulder1"/>
|
||||
<motor gear="20" joint="2a_right_shoulder2"/>
|
||||
<motor gear="40" joint="2a_right_elbow"/>
|
||||
<motor gear="20" joint="2a_left_shoulder1"/>
|
||||
<motor gear="20" joint="2a_left_shoulder2"/>
|
||||
<motor gear="40" joint="2a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="3a_abdomen_y"/>
|
||||
<motor gear="40" joint="3a_abdomen_z"/>
|
||||
<motor gear="40" joint="3a_abdomen_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_x"/>
|
||||
<motor gear="40" joint="3a_right_hip_z"/>
|
||||
<motor gear="120" joint="3a_right_hip_y"/>
|
||||
<motor gear="80" joint="3a_right_knee"/>
|
||||
<motor gear="20" joint="3a_right_ankle_x"/>
|
||||
<motor gear="20" joint="3a_right_ankle_y"/>
|
||||
<motor gear="40" joint="3a_left_hip_x"/>
|
||||
<motor gear="40" joint="3a_left_hip_z"/>
|
||||
<motor gear="120" joint="3a_left_hip_y"/>
|
||||
<motor gear="80" joint="3a_left_knee"/>
|
||||
<motor gear="20" joint="3a_left_ankle_x"/>
|
||||
<motor gear="20" joint="3a_left_ankle_y"/>
|
||||
<motor gear="20" joint="3a_right_shoulder1"/>
|
||||
<motor gear="20" joint="3a_right_shoulder2"/>
|
||||
<motor gear="40" joint="3a_right_elbow"/>
|
||||
<motor gear="20" joint="3a_left_shoulder1"/>
|
||||
<motor gear="20" joint="3a_left_shoulder2"/>
|
||||
<motor gear="40" joint="3a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="4a_abdomen_y"/>
|
||||
<motor gear="40" joint="4a_abdomen_z"/>
|
||||
<motor gear="40" joint="4a_abdomen_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_x"/>
|
||||
<motor gear="40" joint="4a_right_hip_z"/>
|
||||
<motor gear="120" joint="4a_right_hip_y"/>
|
||||
<motor gear="80" joint="4a_right_knee"/>
|
||||
<motor gear="20" joint="4a_right_ankle_x"/>
|
||||
<motor gear="20" joint="4a_right_ankle_y"/>
|
||||
<motor gear="40" joint="4a_left_hip_x"/>
|
||||
<motor gear="40" joint="4a_left_hip_z"/>
|
||||
<motor gear="120" joint="4a_left_hip_y"/>
|
||||
<motor gear="80" joint="4a_left_knee"/>
|
||||
<motor gear="20" joint="4a_left_ankle_x"/>
|
||||
<motor gear="20" joint="4a_left_ankle_y"/>
|
||||
<motor gear="20" joint="4a_right_shoulder1"/>
|
||||
<motor gear="20" joint="4a_right_shoulder2"/>
|
||||
<motor gear="40" joint="4a_right_elbow"/>
|
||||
<motor gear="20" joint="4a_left_shoulder1"/>
|
||||
<motor gear="20" joint="4a_left_shoulder2"/>
|
||||
<motor gear="40" joint="4a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="5a_abdomen_y"/>
|
||||
<motor gear="40" joint="5a_abdomen_z"/>
|
||||
<motor gear="40" joint="5a_abdomen_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_x"/>
|
||||
<motor gear="40" joint="5a_right_hip_z"/>
|
||||
<motor gear="120" joint="5a_right_hip_y"/>
|
||||
<motor gear="80" joint="5a_right_knee"/>
|
||||
<motor gear="20" joint="5a_right_ankle_x"/>
|
||||
<motor gear="20" joint="5a_right_ankle_y"/>
|
||||
<motor gear="40" joint="5a_left_hip_x"/>
|
||||
<motor gear="40" joint="5a_left_hip_z"/>
|
||||
<motor gear="120" joint="5a_left_hip_y"/>
|
||||
<motor gear="80" joint="5a_left_knee"/>
|
||||
<motor gear="20" joint="5a_left_ankle_x"/>
|
||||
<motor gear="20" joint="5a_left_ankle_y"/>
|
||||
<motor gear="20" joint="5a_right_shoulder1"/>
|
||||
<motor gear="20" joint="5a_right_shoulder2"/>
|
||||
<motor gear="40" joint="5a_right_elbow"/>
|
||||
<motor gear="20" joint="5a_left_shoulder1"/>
|
||||
<motor gear="20" joint="5a_left_shoulder2"/>
|
||||
<motor gear="40" joint="5a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="6a_abdomen_y"/>
|
||||
<motor gear="40" joint="6a_abdomen_z"/>
|
||||
<motor gear="40" joint="6a_abdomen_x"/>
|
||||
<motor gear="40" joint="6a_right_hip_x"/>
|
||||
<motor gear="40" joint="6a_right_hip_z"/>
|
||||
<motor gear="120" joint="6a_right_hip_y"/>
|
||||
<motor gear="80" joint="6a_right_knee"/>
|
||||
<motor gear="20" joint="6a_right_ankle_x"/>
|
||||
<motor gear="20" joint="6a_right_ankle_y"/>
|
||||
<motor gear="40" joint="6a_left_hip_x"/>
|
||||
<motor gear="40" joint="6a_left_hip_z"/>
|
||||
<motor gear="120" joint="6a_left_hip_y"/>
|
||||
<motor gear="80" joint="6a_left_knee"/>
|
||||
<motor gear="20" joint="6a_left_ankle_x"/>
|
||||
<motor gear="20" joint="6a_left_ankle_y"/>
|
||||
<motor gear="20" joint="6a_right_shoulder1"/>
|
||||
<motor gear="20" joint="6a_right_shoulder2"/>
|
||||
<motor gear="40" joint="6a_right_elbow"/>
|
||||
<motor gear="20" joint="6a_left_shoulder1"/>
|
||||
<motor gear="20" joint="6a_left_shoulder2"/>
|
||||
<motor gear="40" joint="6a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="7a_abdomen_y"/>
|
||||
<motor gear="40" joint="7a_abdomen_z"/>
|
||||
<motor gear="40" joint="7a_abdomen_x"/>
|
||||
<motor gear="40" joint="7a_right_hip_x"/>
|
||||
<motor gear="40" joint="7a_right_hip_z"/>
|
||||
<motor gear="120" joint="7a_right_hip_y"/>
|
||||
<motor gear="80" joint="7a_right_knee"/>
|
||||
<motor gear="20" joint="7a_right_ankle_x"/>
|
||||
<motor gear="20" joint="7a_right_ankle_y"/>
|
||||
<motor gear="40" joint="7a_left_hip_x"/>
|
||||
<motor gear="40" joint="7a_left_hip_z"/>
|
||||
<motor gear="120" joint="7a_left_hip_y"/>
|
||||
<motor gear="80" joint="7a_left_knee"/>
|
||||
<motor gear="20" joint="7a_left_ankle_x"/>
|
||||
<motor gear="20" joint="7a_left_ankle_y"/>
|
||||
<motor gear="20" joint="7a_right_shoulder1"/>
|
||||
<motor gear="20" joint="7a_right_shoulder2"/>
|
||||
<motor gear="40" joint="7a_right_elbow"/>
|
||||
<motor gear="20" joint="7a_left_shoulder1"/>
|
||||
<motor gear="20" joint="7a_left_shoulder2"/>
|
||||
<motor gear="40" joint="7a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="8a_abdomen_y"/>
|
||||
<motor gear="40" joint="8a_abdomen_z"/>
|
||||
<motor gear="40" joint="8a_abdomen_x"/>
|
||||
<motor gear="40" joint="8a_right_hip_x"/>
|
||||
<motor gear="40" joint="8a_right_hip_z"/>
|
||||
<motor gear="120" joint="8a_right_hip_y"/>
|
||||
<motor gear="80" joint="8a_right_knee"/>
|
||||
<motor gear="20" joint="8a_right_ankle_x"/>
|
||||
<motor gear="20" joint="8a_right_ankle_y"/>
|
||||
<motor gear="40" joint="8a_left_hip_x"/>
|
||||
<motor gear="40" joint="8a_left_hip_z"/>
|
||||
<motor gear="120" joint="8a_left_hip_y"/>
|
||||
<motor gear="80" joint="8a_left_knee"/>
|
||||
<motor gear="20" joint="8a_left_ankle_x"/>
|
||||
<motor gear="20" joint="8a_left_ankle_y"/>
|
||||
<motor gear="20" joint="8a_right_shoulder1"/>
|
||||
<motor gear="20" joint="8a_right_shoulder2"/>
|
||||
<motor gear="40" joint="8a_right_elbow"/>
|
||||
<motor gear="20" joint="8a_left_shoulder1"/>
|
||||
<motor gear="20" joint="8a_left_shoulder2"/>
|
||||
<motor gear="40" joint="8a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
<actuator>
|
||||
<motor gear="40" joint="9a_abdomen_y"/>
|
||||
<motor gear="40" joint="9a_abdomen_z"/>
|
||||
<motor gear="40" joint="9a_abdomen_x"/>
|
||||
<motor gear="40" joint="9a_right_hip_x"/>
|
||||
<motor gear="40" joint="9a_right_hip_z"/>
|
||||
<motor gear="120" joint="9a_right_hip_y"/>
|
||||
<motor gear="80" joint="9a_right_knee"/>
|
||||
<motor gear="20" joint="9a_right_ankle_x"/>
|
||||
<motor gear="20" joint="9a_right_ankle_y"/>
|
||||
<motor gear="40" joint="9a_left_hip_x"/>
|
||||
<motor gear="40" joint="9a_left_hip_z"/>
|
||||
<motor gear="120" joint="9a_left_hip_y"/>
|
||||
<motor gear="80" joint="9a_left_knee"/>
|
||||
<motor gear="20" joint="9a_left_ankle_x"/>
|
||||
<motor gear="20" joint="9a_left_ankle_y"/>
|
||||
<motor gear="20" joint="9a_right_shoulder1"/>
|
||||
<motor gear="20" joint="9a_right_shoulder2"/>
|
||||
<motor gear="40" joint="9a_right_elbow"/>
|
||||
<motor gear="20" joint="9a_left_shoulder1"/>
|
||||
<motor gear="20" joint="9a_left_shoulder2"/>
|
||||
<motor gear="40" joint="9a_left_elbow"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user