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Add keyframes to humanoid model.

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PiperOrigin-RevId: 595175659
Change-Id: I2aae405a5dfbd9b14253d6330cb12003bd4f6c08
This commit is contained in:
Yuval Tassa
2024-01-02 11:59:41 -08:00
committed by Copybara-Service
parent 1c7809e542
commit e07ea625ac
1 changed files with 30 additions and 12 deletions
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model/humanoid/humanoid.xml
+30 -12
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@@ -233,17 +233,35 @@
left leg
arms
-->
<key name="squat" qpos="0 0 0.596
0.988015 0 0.154359 0
0 0.4 0
-0.25 -0.5 -2.5 -2.65 -0.8 0.56
-0.25 -0.5 -2.5 -2.65 -0.8 0.56
0 0 0 0 0 0"/>
<key name="stand_on_left_leg" qpos="0 0 1.21948
0.971588 -0.179973 0.135318 -0.0729076
-0.0516 -0.202 0.23
-0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-0.08 -0.01 -0.37 -0.685 -0.35 -0.09
0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
<key name="squat"
qpos="0 0 0.596
0.988015 0 0.154359 0
0 0.4 0
-0.25 -0.5 -2.5 -2.65 -0.8 0.56
-0.25 -0.5 -2.5 -2.65 -0.8 0.56
0 0 0 0 0 0"/>
<key name="stand_on_left_leg"
qpos="0 0 1.21948
0.971588 -0.179973 0.135318 -0.0729076
-0.0516 -0.202 0.23
-0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
-0.08 -0.01 -0.37 -0.685 -0.35 -0.09
0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
<key name="prone"
qpos="0.4 0 0.0757706
0.7325 0 0.680767 0
0 0.0729 0
0.0077 0.0019 -0.026 -0.351 -0.27 0
0.0077 0.0019 -0.026 -0.351 -0.27 0
0.56 -0.62 -1.752
0.56 -0.62 -1.752"/>
<key name="supine"
qpos="-0.4 0 0.08122
0.722788 0 -0.69107 0
0 -0.25 0
0.0182 0.0142 0.3 0.042 -0.44 -0.02
0.0182 0.0142 0.3 0.042 -0.44 -0.02
0.186 -0.73 -1.73
0.186 -0.73 -1.73"/>
</keyframe>
</mujoco>