From e07ea625acc9ca9f221ebc566e6990848929602a Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Tue, 2 Jan 2024 11:59:41 -0800
Subject: [PATCH] Add keyframes to humanoid model.

PiperOrigin-RevId: 595175659
Change-Id: I2aae405a5dfbd9b14253d6330cb12003bd4f6c08
---
 model/humanoid/humanoid.xml | 42 ++++++++++++++++++++++++++-----------
 1 file changed, 30 insertions(+), 12 deletions(-)

diff --git a/model/humanoid/humanoid.xml b/model/humanoid/humanoid.xml
index 31cde3ed..013ebe23 100644
--- a/model/humanoid/humanoid.xml
+++ b/model/humanoid/humanoid.xml
@@ -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>