1424 lines
47 KiB
XML
1424 lines
47 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="Poncho">
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<include file="mannequin.xml"/>
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<option timestep="0.005" integrator="implicitfast" viscosity=".3" solver="CG" tolerance="1e-6">
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<flag energy="enable"/>
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</option>
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<visual>
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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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<default>
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<geom solref="0.003 1"/>
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</default>
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<worldbody>
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|
|
25 24 36
|
|
35 23 25
|
|
14 7 15
|
|
59 42 57
|
|
24 25 18
|
|
22 34 29
|
|
73 80 91
|
|
78 76 79
|
|
46 61 62
|
|
46 44 45
|
|
77 95 76
|
|
73 62 80
|
|
92 73 91
|
|
72 62 73
|
|
61 60 76
|
|
60 75 77
|
|
76 60 77
|
|
28 30 24
|
|
29 28 19
|
|
42 30 28
|
|
41 42 29
|
|
43 30 42
|
|
59 43 42
|
|
59 44 43
|
|
75 59 57
|
|
44 31 43
|
|
45 44 60
|
|
61 45 60
|
|
61 46 45
|
|
31 30 43
|
|
46 31 44
|
|
46 40 31
|
|
52 36 40
|
|
44 59 60
|
|
50 57 41
|
|
50 66 58
|
|
58 66 74
|
|
75 58 74
|
|
57 50 58
|
|
94 114 95
|
|
97 99 80
|
|
82 100 101
|
|
129 152 123
|
|
82 83 65
|
|
124 101 100
|
|
103 126 104
|
|
83 103 84
|
|
125 126 103
|
|
124 125 101
|
|
179 159 187
|
|
153 179 180
|
|
154 153 180
|
|
125 124 153
|
|
152 159 179
|
|
153 152 179
|
|
124 123 152
|
|
158 159 129
|
|
249 283 250
|
|
145 147 118
|
|
298 329 302
|
|
269 298 302
|
|
206 237 238
|
|
268 298 269
|
|
184 155 183
|
|
175 173 204
|
|
146 145 143
|
|
277 298 268
|
|
236 244 268
|
|
311 310 342
|
|
309 311 341
|
|
279 310 311
|
|
277 299 298
|
|
159 152 129
|
|
186 188 158
|
|
180 209 210
|
|
125 153 154
|
|
179 187 209
|
|
246 278 245
|
|
152 153 124
|
|
127 104 126
|
|
182 185 156
|
|
115 104 127
|
|
104 84 103
|
|
154 127 126
|
|
116 114 94
|
|
115 116 93
|
|
115 144 116
|
|
284 283 315
|
|
220 219 250
|
|
252 220 250
|
|
159 188 187
|
|
186 219 188
|
|
186 218 219
|
|
218 248 249
|
|
312 314 282
|
|
313 282 314
|
|
313 343 315
|
|
281 313 283
|
|
314 343 313
|
|
315 344 345
|
|
281 248 282
|
|
313 281 282
|
|
373 346 345
|
|
252 284 286
|
|
249 248 281
|
|
283 249 281
|
|
250 219 249
|
|
157 156 185
|
|
183 157 185
|
|
128 127 156
|
|
154 181 156
|
|
125 154 126
|
|
180 179 209
|
|
180 210 181
|
|
154 180 181
|
|
252 250 284
|
|
251 242 247
|
|
220 188 219
|
|
251 285 275
|
|
242 251 275
|
|
247 280 251
|
|
252 280 247
|
|
286 317 318
|
|
187 188 220
|
|
158 188 159
|
|
316 284 315
|
|
318 285 286
|
|
347 318 317
|
|
285 280 286
|
|
307 285 318
|
|
307 275 285
|
|
306 308 276
|
|
339 306 307
|
|
338 308 306
|
|
242 209 217
|
|
217 187 220
|
|
375 346 374
|
|
242 210 209
|
|
274 306 276
|
|
243 274 276
|
|
275 306 274
|
|
246 279 278
|
|
345 344 373
|
|
316 315 345
|
|
346 316 345
|
|
286 284 316
|
|
280 285 251
|
|
339 307 318
|
|
339 338 306
|
|
250 283 284
|
|
315 343 344
|
|
346 317 316
|
|
283 313 315
|
|
218 249 219
|
|
204 213 236
|
|
173 184 204
|
|
213 244 236
|
|
183 215 184
|
|
215 214 245
|
|
176 205 206
|
|
245 244 213
|
|
269 236 268
|
|
183 155 157
|
|
214 183 185
|
|
216 214 185
|
|
216 245 214
|
|
184 173 155
|
|
237 204 236
|
|
175 146 173
|
|
205 175 204
|
|
205 174 175
|
|
122 139 111
|
|
97 121 119
|
|
150 151 122
|
|
102 101 125
|
|
103 102 125
|
|
83 101 102
|
|
393 397 412
|
|
346 375 347
|
|
317 346 347
|
|
339 318 347
|
|
286 316 317
|
|
373 374 346
|
|
374 397 375
|
|
145 146 174
|
|
147 145 174
|
|
118 117 145
|
|
413 394 392
|
|
413 393 412
|
|
430 429 442
|
|
396 395 414
|
|
413 429 415
|
|
237 206 205
|
|
430 443 431
|
|
429 430 415
|
|
442 443 430
|
|
443 442 454
|
|
456 443 454
|
|
431 416 430
|
|
408 387 386
|
|
332 360 333
|
|
334 362 360
|
|
302 329 334
|
|
300 302 332
|
|
270 238 269
|
|
309 279 311
|
|
330 309 341
|
|
357 330 341
|
|
359 331 330
|
|
277 278 309
|
|
210 211 182
|
|
181 210 182
|
|
247 220 252
|
|
247 217 220
|
|
286 280 252
|
|
242 217 247
|
|
241 242 275
|
|
211 210 242
|
|
209 187 217
|
|
368 392 367
|
|
375 368 347
|
|
375 393 368
|
|
276 308 279
|
|
246 276 279
|
|
216 246 245
|
|
243 276 246
|
|
212 243 216
|
|
241 275 274
|
|
243 241 274
|
|
211 242 241
|
|
275 307 306
|
|
367 338 339
|
|
340 308 338
|
|
367 340 338
|
|
369 342 340
|
|
394 395 371
|
|
472 471 477
|
|
444 456 457
|
|
445 444 457
|
|
455 450 445
|
|
464 455 457
|
|
464 469 461
|
|
437 422 432
|
|
431 443 444
|
|
463 471 465
|
|
371 342 369
|
|
357 383 359
|
|
370 357 341
|
|
372 383 357
|
|
384 405 383
|
|
417 406 396
|
|
422 424 406
|
|
417 422 406
|
|
416 417 396
|
|
432 444 445
|
|
437 424 422
|
|
385 359 383
|
|
407 385 405
|
|
386 362 385
|
|
309 330 299
|
|
383 405 385
|
|
330 357 359
|
|
384 396 406
|
|
405 384 406
|
|
372 396 384
|
|
370 371 395
|
|
357 370 372
|
|
342 371 370
|
|
311 342 341
|
|
310 340 342
|
|
372 384 383
|
|
385 362 358
|
|
279 308 310
|
|
340 310 308
|
|
339 368 367
|
|
396 414 416
|
|
392 394 369
|
|
367 392 369
|
|
340 367 369
|
|
339 347 368
|
|
393 413 392
|
|
368 393 392
|
|
375 397 393
|
|
413 415 414
|
|
429 413 412
|
|
395 396 372
|
|
370 395 372
|
|
341 342 370
|
|
369 394 371
|
|
414 415 430
|
|
394 414 395
|
|
394 413 414
|
|
302 270 269
|
|
237 269 238
|
|
204 237 205
|
|
236 269 237
|
|
456 463 465
|
|
469 476 470
|
|
467 460 462
|
|
464 465 472
|
|
461 455 464
|
|
462 461 469
|
|
451 450 461
|
|
457 465 464
|
|
447 459 458
|
|
446 447 458
|
|
435 448 447
|
|
434 435 447
|
|
381 403 402
|
|
421 436 435
|
|
402 403 420
|
|
428 436 421
|
|
448 459 447
|
|
436 448 435
|
|
436 449 448
|
|
420 421 435
|
|
450 439 437
|
|
457 455 445
|
|
453 462 460
|
|
441 452 449
|
|
461 462 453
|
|
424 407 405
|
|
427 426 410
|
|
408 425 410
|
|
440 451 438
|
|
439 440 427
|
|
439 451 440
|
|
407 386 385
|
|
425 407 424
|
|
439 425 424
|
|
427 410 425
|
|
425 408 407
|
|
365 390 389
|
|
437 439 424
|
|
426 409 410
|
|
411 423 428
|
|
404 409 423
|
|
361 363 335
|
|
390 365 387
|
|
410 390 408
|
|
410 409 390
|
|
389 363 365
|
|
388 389 409
|
|
391 382 404
|
|
364 389 388
|
|
333 303 301
|
|
336 327 305
|
|
364 336 363
|
|
364 355 336
|
|
335 336 305
|
|
438 428 423
|
|
440 438 426
|
|
441 449 436
|
|
451 441 438
|
|
452 461 453
|
|
449 452 453
|
|
451 461 452
|
|
455 461 450
|
|
441 436 428
|
|
472 476 469
|
|
471 472 465
|
|
477 476 472
|
|
460 467 468
|
|
459 460 468
|
|
462 469 470
|
|
449 453 460
|
|
452 441 451
|
|
428 438 441
|
|
462 470 467
|
|
474 470 476
|
|
481 479 476
|
|
480 475 474
|
|
449 460 448
|
|
474 467 470
|
|
475 473 468
|
|
416 431 417
|
|
302 300 270
|
|
450 451 439
|
|
456 444 443
|
|
463 456 454
|
|
417 432 422
|
|
465 457 456
|
|
464 472 469
|
|
439 427 425
|
|
445 450 437
|
|
426 423 409
|
|
440 426 427
|
|
438 423 426
|
|
424 405 406
|
|
416 414 430
|
|
325 354 352
|
|
355 356 337
|
|
327 355 328
|
|
327 336 355
|
|
411 391 404
|
|
421 411 428
|
|
403 381 391
|
|
421 403 411
|
|
421 420 403
|
|
401 380 402
|
|
411 404 423
|
|
366 391 381
|
|
366 356 382
|
|
337 356 366
|
|
326 337 353
|
|
326 355 337
|
|
364 388 382
|
|
434 447 446
|
|
300 332 301
|
|
468 473 466
|
|
448 460 459
|
|
467 475 468
|
|
434 446 433
|
|
420 434 419
|
|
420 435 434
|
|
411 403 391
|
|
418 400 419
|
|
380 379 354
|
|
262 294 295
|
|
387 360 362
|
|
390 387 408
|
|
361 333 360
|
|
365 361 387
|
|
365 363 361
|
|
364 363 389
|
|
335 333 361
|
|
366 381 380
|
|
337 366 353
|
|
382 388 404
|
|
366 382 391
|
|
356 355 382
|
|
432 445 437
|
|
431 432 417
|
|
431 444 432
|
|
404 388 409
|
|
358 329 331
|
|
358 334 329
|
|
386 387 362
|
|
407 408 386
|
|
390 409 389
|
|
360 332 334
|
|
387 361 360
|
|
335 303 333
|
|
332 302 334
|
|
419 434 433
|
|
400 418 399
|
|
379 401 400
|
|
377 379 399
|
|
377 352 379
|
|
419 433 418
|
|
401 419 400
|
|
402 420 419
|
|
325 352 324
|
|
366 380 353
|
|
379 400 399
|
|
380 401 379
|
|
353 380 354
|
|
381 402 380
|
|
402 419 401
|
|
398 399 418
|
|
398 376 378">
|
|
<edge equality="true" damping="0.1"/>
|
|
<elasticity young="3e5" poisson="0" thickness="8e-3" elastic2d="bend"/>
|
|
<contact solref="0.003"/>
|
|
</flexcomp>
|
|
|
|
</worldbody>
|
|
|
|
</mujoco>
|