Yuval Tassa
5004a4c8c5
- Memory heuristic rounds up to the nearest MB. - `simulate` reports total memory currently allocated in the info box. - All example models use `<size memory/>` rather than legacy attributes. - Regenerated `example_saved.xml` and reformatted original model in [overview chapter](https://mujoco.readthedocs.io/en/latest/overview.html?#examples). - `<size>` top-level section does not get written if empty. PiperOrigin-RevId: 486702670 Change-Id: I0306e335f32344c59562ba606664ec9d2101f8a8
2279 lines
130 KiB
XML
2279 lines
130 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="22 Humanoids">
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<option timestep="0.005"/>
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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="127" height="1278"
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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="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
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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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<body name="2a_torso" pos="-1 1 1.5" childclass="body">
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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"/>
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<geom name="2a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
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<body name="2a_right_thigh" pos="0 -.1 -.04">
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<joint name="2a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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<joint name="2a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
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<joint name="2a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="2a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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<body name="2a_right_shin" pos="0 .01 -.403">
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<joint name="2a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="2a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<body name="2a_right_foot" pos="0 0 -.39">
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<joint name="2a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="2a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="2a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
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<geom name="2a_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="2a_left_thigh" pos="0 .1 -.04">
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<joint name="2a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
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<joint name="2a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
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<joint name="2a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="2a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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<body name="2a_left_shin" pos="0 -.01 -.403">
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<joint name="2a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="2a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<body name="2a_left_foot" pos="0 0 -.39">
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<joint name="2a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="2a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="2a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
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<geom name="2a_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="2a_right_upper_arm" pos="0 -.17 .06">
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<joint name="2a_right_shoulder1" axis="2 1 1" range="-85 60"/>
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<joint name="2a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
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<geom name="2a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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<body name="2a_right_lower_arm" pos=".18 -.18 -.18">
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<joint name="2a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
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<geom name="2a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
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<body name="2a_right_hand" pos=".18 .18 .18">
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<geom name="2a_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="2a_left_upper_arm" pos="0 .17 .06">
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<joint name="2a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
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<joint name="2a_left_shoulder2" axis="0 1 1" range="-60 85"/>
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<geom name="2a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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<body name="2a_left_lower_arm" pos=".18 .18 -.18">
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<joint name="2a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
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<geom name="2a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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<body name="2a_left_hand" pos=".18 -.18 .18">
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<geom name="2a_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="3a_torso" pos="-1 -1 1.5" childclass="body">
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<camera name="3a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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<camera name="3a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
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<freejoint name="3a_root"/>
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<geom name="3a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
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<geom name="3a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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<body name="3a_head" pos="0 0 .19">
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<geom name="3a_head" type="sphere" size=".09"/>
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<camera name="3a_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="3a_lower_waist" pos="-.01 0 -.26">
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<geom name="3a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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<joint name="3a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
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<joint name="3a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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<body name="3a_pelvis" pos="0 0 -.165">
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<joint name="3a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
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<geom name="3a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
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<body name="3a_right_thigh" pos="0 -.1 -.04">
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<joint name="3a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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<joint name="3a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
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<joint name="3a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="3a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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<body name="3a_right_shin" pos="0 .01 -.403">
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<joint name="3a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="3a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<body name="3a_right_foot" pos="0 0 -.39">
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<joint name="3a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="3a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="3a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
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<geom name="3a_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="3a_left_thigh" pos="0 .1 -.04">
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<joint name="3a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
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<joint name="3a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
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<joint name="3a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="3a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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<body name="3a_left_shin" pos="0 -.01 -.403">
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<joint name="3a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="3a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<body name="3a_left_foot" pos="0 0 -.39">
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<joint name="3a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="3a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="3a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
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<geom name="3a_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="3a_right_upper_arm" pos="0 -.17 .06">
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<joint name="3a_right_shoulder1" axis="2 1 1" range="-85 60"/>
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<joint name="3a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
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<geom name="3a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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<body name="3a_right_lower_arm" pos=".18 -.18 -.18">
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<joint name="3a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
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<geom name="3a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
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<body name="3a_right_hand" pos=".18 .18 .18">
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<geom name="3a_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="3a_left_upper_arm" pos="0 .17 .06">
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<joint name="3a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
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<joint name="3a_left_shoulder2" axis="0 1 1" range="-60 85"/>
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<geom name="3a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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<body name="3a_left_lower_arm" pos=".18 .18 -.18">
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<joint name="3a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
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<geom name="3a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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<body name="3a_left_hand" pos=".18 -.18 .18">
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<geom name="3a_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>
|
|
|
|
<body name="4a_torso" pos="-1 2 1.5" childclass="body">
|
|
<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="body">
|
|
<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="body">
|
|
<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="body">
|
|
<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="body">
|
|
<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="body">
|
|
<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>
|
|
|
|
<body name="10a_torso" pos="-1 5 1.5" childclass="body">
|
|
<camera name="10a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="10a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="10a_root"/>
|
|
<geom name="10a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="10a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="10a_head" pos="0 0 .19">
|
|
<geom name="10a_head" type="sphere" size=".09"/>
|
|
<camera name="10a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="10a_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="10a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="10a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="10a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="10a_pelvis" pos="0 0 -.165">
|
|
<joint name="10a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="10a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="10a_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="10a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="10a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="10a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="10a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="10a_right_shin" pos="0 .01 -.403">
|
|
<joint name="10a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="10a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="10a_right_foot" pos="0 0 -.39">
|
|
<joint name="10a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="10a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="10a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="10a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="10a_left_thigh" pos="0 .1 -.04">
|
|
<joint name="10a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="10a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="10a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="10a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="10a_left_shin" pos="0 -.01 -.403">
|
|
<joint name="10a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="10a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="10a_left_foot" pos="0 0 -.39">
|
|
<joint name="10a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="10a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="10a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="10a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="10a_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="10a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="10a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="10a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="10a_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="10a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="10a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="10a_right_hand" pos=".18 .18 .18">
|
|
<geom name="10a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="10a_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="10a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="10a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="10a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="10a_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="10a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="10a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="10a_left_hand" pos=".18 -.18 .18">
|
|
<geom name="10a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="11a_torso" pos="-1 -5 1.5" childclass="body">
|
|
<camera name="11a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="11a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="11a_root"/>
|
|
<geom name="11a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="11a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="11a_head" pos="0 0 .19">
|
|
<geom name="11a_head" type="sphere" size=".09"/>
|
|
<camera name="11a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="11a_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="11a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="11a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="11a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="11a_pelvis" pos="0 0 -.165">
|
|
<joint name="11a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="11a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="11a_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="11a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="11a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="11a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="11a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="11a_right_shin" pos="0 .01 -.403">
|
|
<joint name="11a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="11a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="11a_right_foot" pos="0 0 -.39">
|
|
<joint name="11a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="11a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="11a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="11a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="11a_left_thigh" pos="0 .1 -.04">
|
|
<joint name="11a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="11a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="11a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="11a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="11a_left_shin" pos="0 -.01 -.403">
|
|
<joint name="11a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="11a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="11a_left_foot" pos="0 0 -.39">
|
|
<joint name="11a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="11a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="11a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="11a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="11a_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="11a_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="11a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="11a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="11a_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="11a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="11a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="11a_right_hand" pos=".18 .18 .18">
|
|
<geom name="11a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="11a_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="11a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="11a_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="11a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="11a_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="11a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="11a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="11a_left_hand" pos=".18 -.18 .18">
|
|
<geom name="11a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="1b_torso" pos="1 0 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="1b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="1b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="1b_root"/>
|
|
<geom name="1b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="1b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="1b_head" pos="0 0 .19">
|
|
<geom name="1b_head" type="sphere" size=".09"/>
|
|
<camera name="1b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="1b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="1b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="1b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="1b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="1b_pelvis" pos="0 0 -.165">
|
|
<joint name="1b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="1b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="1b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="1b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="1b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="1b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="1b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="1b_right_shin" pos="0 .01 -.403">
|
|
<joint name="1b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="1b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="1b_right_foot" pos="0 0 -.39">
|
|
<joint name="1b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="1b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="1b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="1b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="1b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="1b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="1b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="1b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="1b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="1b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="1b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="1b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="1b_left_foot" pos="0 0 -.39">
|
|
<joint name="1b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="1b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="1b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="1b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="1b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="1b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="1b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="1b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="1b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="1b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="1b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="1b_right_hand" pos=".18 .18 .18">
|
|
<geom name="1b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="1b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="1b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="1b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="1b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="1b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="1b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="1b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="1b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="1b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="2b_torso" pos="1 1 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="2b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="2b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="2b_root"/>
|
|
<geom name="2b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="2b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="2b_head" pos="0 0 .19">
|
|
<geom name="2b_head" type="sphere" size=".09"/>
|
|
<camera name="2b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="2b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="2b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="2b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="2b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="2b_pelvis" pos="0 0 -.165">
|
|
<joint name="2b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="2b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="2b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="2b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="2b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="2b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="2b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="2b_right_shin" pos="0 .01 -.403">
|
|
<joint name="2b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="2b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="2b_right_foot" pos="0 0 -.39">
|
|
<joint name="2b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="2b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="2b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="2b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="2b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="2b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="2b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="2b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="2b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="2b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="2b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="2b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="2b_left_foot" pos="0 0 -.39">
|
|
<joint name="2b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="2b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="2b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="2b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="2b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="2b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="2b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="2b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="2b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="2b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="2b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="2b_right_hand" pos=".18 .18 .18">
|
|
<geom name="2b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="2b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="2b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="2b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="2b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="2b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="2b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="2b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="2b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="2b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="3b_torso" pos="1 -1 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="3b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="3b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="3b_root"/>
|
|
<geom name="3b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="3b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="3b_head" pos="0 0 .19">
|
|
<geom name="3b_head" type="sphere" size=".09"/>
|
|
<camera name="3b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="3b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="3b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="3b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="3b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="3b_pelvis" pos="0 0 -.165">
|
|
<joint name="3b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="3b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="3b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="3b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="3b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="3b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="3b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="3b_right_shin" pos="0 .01 -.403">
|
|
<joint name="3b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="3b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="3b_right_foot" pos="0 0 -.39">
|
|
<joint name="3b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="3b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="3b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="3b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="3b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="3b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="3b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="3b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="3b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="3b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="3b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="3b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="3b_left_foot" pos="0 0 -.39">
|
|
<joint name="3b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="3b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="3b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="3b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="3b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="3b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="3b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="3b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="3b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="3b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="3b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="3b_right_hand" pos=".18 .18 .18">
|
|
<geom name="3b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="3b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="3b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="3b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="3b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="3b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="3b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="3b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="3b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="3b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="4b_torso" pos="1 2 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="4b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="4b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="4b_root"/>
|
|
<geom name="4b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="4b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="4b_head" pos="0 0 .19">
|
|
<geom name="4b_head" type="sphere" size=".09"/>
|
|
<camera name="4b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="4b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="4b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="4b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="4b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="4b_pelvis" pos="0 0 -.165">
|
|
<joint name="4b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="4b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="4b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="4b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="4b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="4b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="4b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="4b_right_shin" pos="0 .01 -.403">
|
|
<joint name="4b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="4b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="4b_right_foot" pos="0 0 -.39">
|
|
<joint name="4b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="4b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="4b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="4b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="4b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="4b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="4b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="4b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="4b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="4b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="4b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="4b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="4b_left_foot" pos="0 0 -.39">
|
|
<joint name="4b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="4b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="4b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="4b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="4b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="4b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="4b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="4b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="4b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="4b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="4b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="4b_right_hand" pos=".18 .18 .18">
|
|
<geom name="4b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="4b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="4b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="4b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="4b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="4b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="4b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="4b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="4b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="4b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="5b_torso" pos="1 -2 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="5b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="5b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="5b_root"/>
|
|
<geom name="5b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="5b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="5b_head" pos="0 0 .19">
|
|
<geom name="5b_head" type="sphere" size=".09"/>
|
|
<camera name="5b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="5b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="5b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="5b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="5b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="5b_pelvis" pos="0 0 -.165">
|
|
<joint name="5b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="5b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="5b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="5b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="5b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="5b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="5b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="5b_right_shin" pos="0 .01 -.403">
|
|
<joint name="5b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="5b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="5b_right_foot" pos="0 0 -.39">
|
|
<joint name="5b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="5b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="5b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="5b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="5b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="5b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="5b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="5b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="5b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="5b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="5b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="5b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="5b_left_foot" pos="0 0 -.39">
|
|
<joint name="5b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="5b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="5b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="5b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="5b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="5b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="5b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="5b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="5b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="5b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="5b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="5b_right_hand" pos=".18 .18 .18">
|
|
<geom name="5b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="5b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="5b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="5b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="5b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="5b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="5b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="5b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="5b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="5b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="6b_torso" pos="1 3 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="6b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="6b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="6b_root"/>
|
|
<geom name="6b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="6b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="6b_head" pos="0 0 .19">
|
|
<geom name="6b_head" type="sphere" size=".09"/>
|
|
<camera name="6b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="6b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="6b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="6b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="6b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="6b_pelvis" pos="0 0 -.165">
|
|
<joint name="6b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="6b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="6b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="6b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="6b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="6b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="6b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="6b_right_shin" pos="0 .01 -.403">
|
|
<joint name="6b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="6b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="6b_right_foot" pos="0 0 -.39">
|
|
<joint name="6b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="6b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="6b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="6b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="6b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="6b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="6b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="6b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="6b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="6b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="6b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="6b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="6b_left_foot" pos="0 0 -.39">
|
|
<joint name="6b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="6b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="6b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="6b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="6b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="6b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="6b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="6b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="6b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="6b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="6b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="6b_right_hand" pos=".18 .18 .18">
|
|
<geom name="6b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="6b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="6b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="6b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="6b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="6b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="6b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="6b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="6b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="6b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="7b_torso" pos="1 -3 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="7b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="7b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="7b_root"/>
|
|
<geom name="7b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="7b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="7b_head" pos="0 0 .19">
|
|
<geom name="7b_head" type="sphere" size=".09"/>
|
|
<camera name="7b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="7b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="7b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="7b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="7b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="7b_pelvis" pos="0 0 -.165">
|
|
<joint name="7b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="7b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="7b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="7b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="7b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="7b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="7b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="7b_right_shin" pos="0 .01 -.403">
|
|
<joint name="7b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="7b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="7b_right_foot" pos="0 0 -.39">
|
|
<joint name="7b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="7b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="7b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="7b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="7b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="7b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="7b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="7b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="7b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="7b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="7b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="7b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="7b_left_foot" pos="0 0 -.39">
|
|
<joint name="7b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="7b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="7b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="7b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="7b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="7b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="7b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="7b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="7b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="7b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="7b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="7b_right_hand" pos=".18 .18 .18">
|
|
<geom name="7b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="7b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="7b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="7b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="7b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="7b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="7b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="7b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="7b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="7b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="8b_torso" pos="1 4 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="8b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="8b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="8b_root"/>
|
|
<geom name="8b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="8b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="8b_head" pos="0 0 .19">
|
|
<geom name="8b_head" type="sphere" size=".09"/>
|
|
<camera name="8b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="8b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="8b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="8b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="8b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="8b_pelvis" pos="0 0 -.165">
|
|
<joint name="8b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="8b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="8b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="8b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="8b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="8b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="8b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="8b_right_shin" pos="0 .01 -.403">
|
|
<joint name="8b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="8b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="8b_right_foot" pos="0 0 -.39">
|
|
<joint name="8b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="8b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="8b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="8b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="8b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="8b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="8b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="8b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="8b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="8b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="8b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="8b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="8b_left_foot" pos="0 0 -.39">
|
|
<joint name="8b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="8b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="8b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="8b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="8b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="8b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="8b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="8b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="8b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="8b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="8b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="8b_right_hand" pos=".18 .18 .18">
|
|
<geom name="8b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="8b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="8b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="8b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="8b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="8b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="8b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="8b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="8b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="8b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="9b_torso" pos="1 -4 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="9b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="9b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="9b_root"/>
|
|
<geom name="9b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="9b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="9b_head" pos="0 0 .19">
|
|
<geom name="9b_head" type="sphere" size=".09"/>
|
|
<camera name="9b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="9b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="9b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="9b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="9b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="9b_pelvis" pos="0 0 -.165">
|
|
<joint name="9b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="9b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="9b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="9b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="9b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="9b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="9b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="9b_right_shin" pos="0 .01 -.403">
|
|
<joint name="9b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="9b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="9b_right_foot" pos="0 0 -.39">
|
|
<joint name="9b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="9b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="9b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="9b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="9b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="9b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="9b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="9b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="9b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="9b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="9b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="9b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="9b_left_foot" pos="0 0 -.39">
|
|
<joint name="9b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="9b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="9b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="9b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="9b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="9b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="9b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="9b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="9b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="9b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="9b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="9b_right_hand" pos=".18 .18 .18">
|
|
<geom name="9b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="9b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="9b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="9b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="9b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="9b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="9b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="9b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="9b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="9b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="10b_torso" pos="1 5 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="10b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="10b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="10b_root"/>
|
|
<geom name="10b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="10b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="10b_head" pos="0 0 .19">
|
|
<geom name="10b_head" type="sphere" size=".09"/>
|
|
<camera name="10b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="10b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="10b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="10b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="10b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="10b_pelvis" pos="0 0 -.165">
|
|
<joint name="10b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="10b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="10b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="10b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="10b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="10b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="10b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="10b_right_shin" pos="0 .01 -.403">
|
|
<joint name="10b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="10b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="10b_right_foot" pos="0 0 -.39">
|
|
<joint name="10b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="10b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="10b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="10b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="10b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="10b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="10b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="10b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="10b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="10b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="10b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="10b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="10b_left_foot" pos="0 0 -.39">
|
|
<joint name="10b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="10b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="10b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="10b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="10b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="10b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="10b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="10b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="10b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="10b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="10b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="10b_right_hand" pos=".18 .18 .18">
|
|
<geom name="10b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="10b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="10b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="10b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="10b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="10b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="10b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="10b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="10b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="10b_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
|
|
<body name="11b_torso" pos="1 -5 1.5" childclass="body" euler="0 0 180">
|
|
<camera name="11b_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
|
|
<camera name="11b_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
|
|
<freejoint name="11b_root"/>
|
|
<geom name="11b_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
|
|
<geom name="11b_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
|
|
<body name="11b_head" pos="0 0 .19">
|
|
<geom name="11b_head" type="sphere" size=".09"/>
|
|
<camera name="11b_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
|
|
</body>
|
|
<body name="11b_lower_waist" pos="-.01 0 -.26">
|
|
<geom name="11b_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
|
|
<joint name="11b_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
|
|
<joint name="11b_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
|
|
<body name="11b_pelvis" pos="0 0 -.165">
|
|
<joint name="11b_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
|
|
<geom name="11b_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
|
|
<body name="11b_right_thigh" pos="0 -.1 -.04">
|
|
<joint name="11b_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="11b_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
|
|
<joint name="11b_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="11b_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
|
|
<body name="11b_right_shin" pos="0 .01 -.403">
|
|
<joint name="11b_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="11b_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="11b_right_foot" pos="0 0 -.39">
|
|
<joint name="11b_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="11b_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="11b_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
|
|
<geom name="11b_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="11b_left_thigh" pos="0 .1 -.04">
|
|
<joint name="11b_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
|
|
<joint name="11b_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
|
|
<joint name="11b_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
|
|
<geom name="11b_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
|
|
<body name="11b_left_shin" pos="0 -.01 -.403">
|
|
<joint name="11b_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
|
|
<geom name="11b_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
|
|
<body name="11b_left_foot" pos="0 0 -.39">
|
|
<joint name="11b_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
|
|
<joint name="11b_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
|
|
<geom name="11b_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
|
|
<geom name="11b_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="11b_right_upper_arm" pos="0 -.17 .06">
|
|
<joint name="11b_right_shoulder1" axis="2 1 1" range="-85 60"/>
|
|
<joint name="11b_right_shoulder2" axis="0 -1 1" range="-85 60"/>
|
|
<geom name="11b_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
|
|
<body name="11b_right_lower_arm" pos=".18 -.18 -.18">
|
|
<joint name="11b_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
|
|
<geom name="11b_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
|
|
<body name="11b_right_hand" pos=".18 .18 .18">
|
|
<geom name="11b_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
<body name="11b_left_upper_arm" pos="0 .17 .06">
|
|
<joint name="11b_left_shoulder1" axis="2 -1 1" range="-60 85"/>
|
|
<joint name="11b_left_shoulder2" axis="0 1 1" range="-60 85"/>
|
|
<geom name="11b_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
|
|
<body name="11b_left_lower_arm" pos=".18 .18 -.18">
|
|
<joint name="11b_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
|
|
<geom name="11b_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
|
|
<body name="11b_left_hand" pos=".18 -.18 .18">
|
|
<geom name="11b_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>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="10a_abdomen_y"/>
|
|
<motor gear="40" joint="10a_abdomen_z"/>
|
|
<motor gear="40" joint="10a_abdomen_x"/>
|
|
<motor gear="40" joint="10a_right_hip_x"/>
|
|
<motor gear="40" joint="10a_right_hip_z"/>
|
|
<motor gear="120" joint="10a_right_hip_y"/>
|
|
<motor gear="80" joint="10a_right_knee"/>
|
|
<motor gear="20" joint="10a_right_ankle_x"/>
|
|
<motor gear="20" joint="10a_right_ankle_y"/>
|
|
<motor gear="40" joint="10a_left_hip_x"/>
|
|
<motor gear="40" joint="10a_left_hip_z"/>
|
|
<motor gear="120" joint="10a_left_hip_y"/>
|
|
<motor gear="80" joint="10a_left_knee"/>
|
|
<motor gear="20" joint="10a_left_ankle_x"/>
|
|
<motor gear="20" joint="10a_left_ankle_y"/>
|
|
<motor gear="20" joint="10a_right_shoulder1"/>
|
|
<motor gear="20" joint="10a_right_shoulder2"/>
|
|
<motor gear="40" joint="10a_right_elbow"/>
|
|
<motor gear="20" joint="10a_left_shoulder1"/>
|
|
<motor gear="20" joint="10a_left_shoulder2"/>
|
|
<motor gear="40" joint="10a_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="11a_abdomen_y"/>
|
|
<motor gear="40" joint="11a_abdomen_z"/>
|
|
<motor gear="40" joint="11a_abdomen_x"/>
|
|
<motor gear="40" joint="11a_right_hip_x"/>
|
|
<motor gear="40" joint="11a_right_hip_z"/>
|
|
<motor gear="120" joint="11a_right_hip_y"/>
|
|
<motor gear="80" joint="11a_right_knee"/>
|
|
<motor gear="20" joint="11a_right_ankle_x"/>
|
|
<motor gear="20" joint="11a_right_ankle_y"/>
|
|
<motor gear="40" joint="11a_left_hip_x"/>
|
|
<motor gear="40" joint="11a_left_hip_z"/>
|
|
<motor gear="120" joint="11a_left_hip_y"/>
|
|
<motor gear="80" joint="11a_left_knee"/>
|
|
<motor gear="20" joint="11a_left_ankle_x"/>
|
|
<motor gear="20" joint="11a_left_ankle_y"/>
|
|
<motor gear="20" joint="11a_right_shoulder1"/>
|
|
<motor gear="20" joint="11a_right_shoulder2"/>
|
|
<motor gear="40" joint="11a_right_elbow"/>
|
|
<motor gear="20" joint="11a_left_shoulder1"/>
|
|
<motor gear="20" joint="11a_left_shoulder2"/>
|
|
<motor gear="40" joint="11a_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="1b_abdomen_y"/>
|
|
<motor gear="40" joint="1b_abdomen_z"/>
|
|
<motor gear="40" joint="1b_abdomen_x"/>
|
|
<motor gear="40" joint="1b_right_hip_x"/>
|
|
<motor gear="40" joint="1b_right_hip_z"/>
|
|
<motor gear="120" joint="1b_right_hip_y"/>
|
|
<motor gear="80" joint="1b_right_knee"/>
|
|
<motor gear="20" joint="1b_right_ankle_x"/>
|
|
<motor gear="20" joint="1b_right_ankle_y"/>
|
|
<motor gear="40" joint="1b_left_hip_x"/>
|
|
<motor gear="40" joint="1b_left_hip_z"/>
|
|
<motor gear="120" joint="1b_left_hip_y"/>
|
|
<motor gear="80" joint="1b_left_knee"/>
|
|
<motor gear="20" joint="1b_left_ankle_x"/>
|
|
<motor gear="20" joint="1b_left_ankle_y"/>
|
|
<motor gear="20" joint="1b_right_shoulder1"/>
|
|
<motor gear="20" joint="1b_right_shoulder2"/>
|
|
<motor gear="40" joint="1b_right_elbow"/>
|
|
<motor gear="20" joint="1b_left_shoulder1"/>
|
|
<motor gear="20" joint="1b_left_shoulder2"/>
|
|
<motor gear="40" joint="1b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="2b_abdomen_y"/>
|
|
<motor gear="40" joint="2b_abdomen_z"/>
|
|
<motor gear="40" joint="2b_abdomen_x"/>
|
|
<motor gear="40" joint="2b_right_hip_x"/>
|
|
<motor gear="40" joint="2b_right_hip_z"/>
|
|
<motor gear="120" joint="2b_right_hip_y"/>
|
|
<motor gear="80" joint="2b_right_knee"/>
|
|
<motor gear="20" joint="2b_right_ankle_x"/>
|
|
<motor gear="20" joint="2b_right_ankle_y"/>
|
|
<motor gear="40" joint="2b_left_hip_x"/>
|
|
<motor gear="40" joint="2b_left_hip_z"/>
|
|
<motor gear="120" joint="2b_left_hip_y"/>
|
|
<motor gear="80" joint="2b_left_knee"/>
|
|
<motor gear="20" joint="2b_left_ankle_x"/>
|
|
<motor gear="20" joint="2b_left_ankle_y"/>
|
|
<motor gear="20" joint="2b_right_shoulder1"/>
|
|
<motor gear="20" joint="2b_right_shoulder2"/>
|
|
<motor gear="40" joint="2b_right_elbow"/>
|
|
<motor gear="20" joint="2b_left_shoulder1"/>
|
|
<motor gear="20" joint="2b_left_shoulder2"/>
|
|
<motor gear="40" joint="2b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="3b_abdomen_y"/>
|
|
<motor gear="40" joint="3b_abdomen_z"/>
|
|
<motor gear="40" joint="3b_abdomen_x"/>
|
|
<motor gear="40" joint="3b_right_hip_x"/>
|
|
<motor gear="40" joint="3b_right_hip_z"/>
|
|
<motor gear="120" joint="3b_right_hip_y"/>
|
|
<motor gear="80" joint="3b_right_knee"/>
|
|
<motor gear="20" joint="3b_right_ankle_x"/>
|
|
<motor gear="20" joint="3b_right_ankle_y"/>
|
|
<motor gear="40" joint="3b_left_hip_x"/>
|
|
<motor gear="40" joint="3b_left_hip_z"/>
|
|
<motor gear="120" joint="3b_left_hip_y"/>
|
|
<motor gear="80" joint="3b_left_knee"/>
|
|
<motor gear="20" joint="3b_left_ankle_x"/>
|
|
<motor gear="20" joint="3b_left_ankle_y"/>
|
|
<motor gear="20" joint="3b_right_shoulder1"/>
|
|
<motor gear="20" joint="3b_right_shoulder2"/>
|
|
<motor gear="40" joint="3b_right_elbow"/>
|
|
<motor gear="20" joint="3b_left_shoulder1"/>
|
|
<motor gear="20" joint="3b_left_shoulder2"/>
|
|
<motor gear="40" joint="3b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="4b_abdomen_y"/>
|
|
<motor gear="40" joint="4b_abdomen_z"/>
|
|
<motor gear="40" joint="4b_abdomen_x"/>
|
|
<motor gear="40" joint="4b_right_hip_x"/>
|
|
<motor gear="40" joint="4b_right_hip_z"/>
|
|
<motor gear="120" joint="4b_right_hip_y"/>
|
|
<motor gear="80" joint="4b_right_knee"/>
|
|
<motor gear="20" joint="4b_right_ankle_x"/>
|
|
<motor gear="20" joint="4b_right_ankle_y"/>
|
|
<motor gear="40" joint="4b_left_hip_x"/>
|
|
<motor gear="40" joint="4b_left_hip_z"/>
|
|
<motor gear="120" joint="4b_left_hip_y"/>
|
|
<motor gear="80" joint="4b_left_knee"/>
|
|
<motor gear="20" joint="4b_left_ankle_x"/>
|
|
<motor gear="20" joint="4b_left_ankle_y"/>
|
|
<motor gear="20" joint="4b_right_shoulder1"/>
|
|
<motor gear="20" joint="4b_right_shoulder2"/>
|
|
<motor gear="40" joint="4b_right_elbow"/>
|
|
<motor gear="20" joint="4b_left_shoulder1"/>
|
|
<motor gear="20" joint="4b_left_shoulder2"/>
|
|
<motor gear="40" joint="4b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="5b_abdomen_y"/>
|
|
<motor gear="40" joint="5b_abdomen_z"/>
|
|
<motor gear="40" joint="5b_abdomen_x"/>
|
|
<motor gear="40" joint="5b_right_hip_x"/>
|
|
<motor gear="40" joint="5b_right_hip_z"/>
|
|
<motor gear="120" joint="5b_right_hip_y"/>
|
|
<motor gear="80" joint="5b_right_knee"/>
|
|
<motor gear="20" joint="5b_right_ankle_x"/>
|
|
<motor gear="20" joint="5b_right_ankle_y"/>
|
|
<motor gear="40" joint="5b_left_hip_x"/>
|
|
<motor gear="40" joint="5b_left_hip_z"/>
|
|
<motor gear="120" joint="5b_left_hip_y"/>
|
|
<motor gear="80" joint="5b_left_knee"/>
|
|
<motor gear="20" joint="5b_left_ankle_x"/>
|
|
<motor gear="20" joint="5b_left_ankle_y"/>
|
|
<motor gear="20" joint="5b_right_shoulder1"/>
|
|
<motor gear="20" joint="5b_right_shoulder2"/>
|
|
<motor gear="40" joint="5b_right_elbow"/>
|
|
<motor gear="20" joint="5b_left_shoulder1"/>
|
|
<motor gear="20" joint="5b_left_shoulder2"/>
|
|
<motor gear="40" joint="5b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="6b_abdomen_y"/>
|
|
<motor gear="40" joint="6b_abdomen_z"/>
|
|
<motor gear="40" joint="6b_abdomen_x"/>
|
|
<motor gear="40" joint="6b_right_hip_x"/>
|
|
<motor gear="40" joint="6b_right_hip_z"/>
|
|
<motor gear="120" joint="6b_right_hip_y"/>
|
|
<motor gear="80" joint="6b_right_knee"/>
|
|
<motor gear="20" joint="6b_right_ankle_x"/>
|
|
<motor gear="20" joint="6b_right_ankle_y"/>
|
|
<motor gear="40" joint="6b_left_hip_x"/>
|
|
<motor gear="40" joint="6b_left_hip_z"/>
|
|
<motor gear="120" joint="6b_left_hip_y"/>
|
|
<motor gear="80" joint="6b_left_knee"/>
|
|
<motor gear="20" joint="6b_left_ankle_x"/>
|
|
<motor gear="20" joint="6b_left_ankle_y"/>
|
|
<motor gear="20" joint="6b_right_shoulder1"/>
|
|
<motor gear="20" joint="6b_right_shoulder2"/>
|
|
<motor gear="40" joint="6b_right_elbow"/>
|
|
<motor gear="20" joint="6b_left_shoulder1"/>
|
|
<motor gear="20" joint="6b_left_shoulder2"/>
|
|
<motor gear="40" joint="6b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="7b_abdomen_y"/>
|
|
<motor gear="40" joint="7b_abdomen_z"/>
|
|
<motor gear="40" joint="7b_abdomen_x"/>
|
|
<motor gear="40" joint="7b_right_hip_x"/>
|
|
<motor gear="40" joint="7b_right_hip_z"/>
|
|
<motor gear="120" joint="7b_right_hip_y"/>
|
|
<motor gear="80" joint="7b_right_knee"/>
|
|
<motor gear="20" joint="7b_right_ankle_x"/>
|
|
<motor gear="20" joint="7b_right_ankle_y"/>
|
|
<motor gear="40" joint="7b_left_hip_x"/>
|
|
<motor gear="40" joint="7b_left_hip_z"/>
|
|
<motor gear="120" joint="7b_left_hip_y"/>
|
|
<motor gear="80" joint="7b_left_knee"/>
|
|
<motor gear="20" joint="7b_left_ankle_x"/>
|
|
<motor gear="20" joint="7b_left_ankle_y"/>
|
|
<motor gear="20" joint="7b_right_shoulder1"/>
|
|
<motor gear="20" joint="7b_right_shoulder2"/>
|
|
<motor gear="40" joint="7b_right_elbow"/>
|
|
<motor gear="20" joint="7b_left_shoulder1"/>
|
|
<motor gear="20" joint="7b_left_shoulder2"/>
|
|
<motor gear="40" joint="7b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="8b_abdomen_y"/>
|
|
<motor gear="40" joint="8b_abdomen_z"/>
|
|
<motor gear="40" joint="8b_abdomen_x"/>
|
|
<motor gear="40" joint="8b_right_hip_x"/>
|
|
<motor gear="40" joint="8b_right_hip_z"/>
|
|
<motor gear="120" joint="8b_right_hip_y"/>
|
|
<motor gear="80" joint="8b_right_knee"/>
|
|
<motor gear="20" joint="8b_right_ankle_x"/>
|
|
<motor gear="20" joint="8b_right_ankle_y"/>
|
|
<motor gear="40" joint="8b_left_hip_x"/>
|
|
<motor gear="40" joint="8b_left_hip_z"/>
|
|
<motor gear="120" joint="8b_left_hip_y"/>
|
|
<motor gear="80" joint="8b_left_knee"/>
|
|
<motor gear="20" joint="8b_left_ankle_x"/>
|
|
<motor gear="20" joint="8b_left_ankle_y"/>
|
|
<motor gear="20" joint="8b_right_shoulder1"/>
|
|
<motor gear="20" joint="8b_right_shoulder2"/>
|
|
<motor gear="40" joint="8b_right_elbow"/>
|
|
<motor gear="20" joint="8b_left_shoulder1"/>
|
|
<motor gear="20" joint="8b_left_shoulder2"/>
|
|
<motor gear="40" joint="8b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="9b_abdomen_y"/>
|
|
<motor gear="40" joint="9b_abdomen_z"/>
|
|
<motor gear="40" joint="9b_abdomen_x"/>
|
|
<motor gear="40" joint="9b_right_hip_x"/>
|
|
<motor gear="40" joint="9b_right_hip_z"/>
|
|
<motor gear="120" joint="9b_right_hip_y"/>
|
|
<motor gear="80" joint="9b_right_knee"/>
|
|
<motor gear="20" joint="9b_right_ankle_x"/>
|
|
<motor gear="20" joint="9b_right_ankle_y"/>
|
|
<motor gear="40" joint="9b_left_hip_x"/>
|
|
<motor gear="40" joint="9b_left_hip_z"/>
|
|
<motor gear="120" joint="9b_left_hip_y"/>
|
|
<motor gear="80" joint="9b_left_knee"/>
|
|
<motor gear="20" joint="9b_left_ankle_x"/>
|
|
<motor gear="20" joint="9b_left_ankle_y"/>
|
|
<motor gear="20" joint="9b_right_shoulder1"/>
|
|
<motor gear="20" joint="9b_right_shoulder2"/>
|
|
<motor gear="40" joint="9b_right_elbow"/>
|
|
<motor gear="20" joint="9b_left_shoulder1"/>
|
|
<motor gear="20" joint="9b_left_shoulder2"/>
|
|
<motor gear="40" joint="9b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="10b_abdomen_y"/>
|
|
<motor gear="40" joint="10b_abdomen_z"/>
|
|
<motor gear="40" joint="10b_abdomen_x"/>
|
|
<motor gear="40" joint="10b_right_hip_x"/>
|
|
<motor gear="40" joint="10b_right_hip_z"/>
|
|
<motor gear="120" joint="10b_right_hip_y"/>
|
|
<motor gear="80" joint="10b_right_knee"/>
|
|
<motor gear="20" joint="10b_right_ankle_x"/>
|
|
<motor gear="20" joint="10b_right_ankle_y"/>
|
|
<motor gear="40" joint="10b_left_hip_x"/>
|
|
<motor gear="40" joint="10b_left_hip_z"/>
|
|
<motor gear="120" joint="10b_left_hip_y"/>
|
|
<motor gear="80" joint="10b_left_knee"/>
|
|
<motor gear="20" joint="10b_left_ankle_x"/>
|
|
<motor gear="20" joint="10b_left_ankle_y"/>
|
|
<motor gear="20" joint="10b_right_shoulder1"/>
|
|
<motor gear="20" joint="10b_right_shoulder2"/>
|
|
<motor gear="40" joint="10b_right_elbow"/>
|
|
<motor gear="20" joint="10b_left_shoulder1"/>
|
|
<motor gear="20" joint="10b_left_shoulder2"/>
|
|
<motor gear="40" joint="10b_left_elbow"/>
|
|
</actuator>
|
|
|
|
<actuator>
|
|
<motor gear="40" joint="11b_abdomen_y"/>
|
|
<motor gear="40" joint="11b_abdomen_z"/>
|
|
<motor gear="40" joint="11b_abdomen_x"/>
|
|
<motor gear="40" joint="11b_right_hip_x"/>
|
|
<motor gear="40" joint="11b_right_hip_z"/>
|
|
<motor gear="120" joint="11b_right_hip_y"/>
|
|
<motor gear="80" joint="11b_right_knee"/>
|
|
<motor gear="20" joint="11b_right_ankle_x"/>
|
|
<motor gear="20" joint="11b_right_ankle_y"/>
|
|
<motor gear="40" joint="11b_left_hip_x"/>
|
|
<motor gear="40" joint="11b_left_hip_z"/>
|
|
<motor gear="120" joint="11b_left_hip_y"/>
|
|
<motor gear="80" joint="11b_left_knee"/>
|
|
<motor gear="20" joint="11b_left_ankle_x"/>
|
|
<motor gear="20" joint="11b_left_ankle_y"/>
|
|
<motor gear="20" joint="11b_right_shoulder1"/>
|
|
<motor gear="20" joint="11b_right_shoulder2"/>
|
|
<motor gear="40" joint="11b_right_elbow"/>
|
|
<motor gear="20" joint="11b_left_shoulder1"/>
|
|
<motor gear="20" joint="11b_left_shoulder2"/>
|
|
<motor gear="40" joint="11b_left_elbow"/>
|
|
</actuator>
|
|
</mujoco>
|