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<mujoco model="ant"> |
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<size nconmax="200"/> |
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<compiler angle="degree" coordinate="local" inertiafromgeom="true"/> |
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<option integrator="RK4" timestep="0.01"/> |
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<custom> |
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<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/> |
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</custom> |
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<default> |
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<joint armature="1" damping="1" limited="true"/> |
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<geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/> |
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</default> |
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<asset> |
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<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/> |
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<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/> |
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<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/> |
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<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/> |
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<material name="geom" texture="texgeom" texuniform="true"/> |
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</asset> |
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<worldbody> |
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<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/> |
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<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/> |
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<body name="torso" pos="0 0 0.75"> |
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<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/> |
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<joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/> |
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<body name="front_left_leg" pos="0 0 0"> |
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<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/> |
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<body name="aux_1" pos="0.2 0.2 0"> |
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<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/> |
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<body pos="0.2 0.2 0"> |
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<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/> |
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</body> |
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</body> |
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</body> |
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<body name="right_back_leg" pos="0 0 0"> |
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<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/> |
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<body name="aux_4" pos="0.2 -0.2 0"> |
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<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/> |
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<body pos="0.2 -0.2 0"> |
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<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/> |
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</body> |
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</body> |
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</body> |
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<body name="midx" pos="0.0 0 0"> |
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<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/> |
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<body name="front_right_legx" pos="-1 0 0"> |
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<geom fromto="0.0 0.0 0.0 0.0 0.2 0.0" name="aux_2_geomx" size="0.08" type="capsule"/> |
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<body name="aux_2x" pos="0.0 0.2 0"> |
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<joint axis="0 0 1" name="hip_2x" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geomx" size="0.08" type="capsule"/> |
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<body pos="-0.2 0.2 0"> |
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<joint axis="1 1 0" name="ankle_2x" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geomx" size="0.08" type="capsule"/> |
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</body> |
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</body> |
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</body> |
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<body name="back_legx" pos="-1 0 0"> |
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<geom fromto="0.0 0.0 0.0 0.0 -0.2 0.0" name="aux_3_geomx" size="0.08" type="capsule"/> |
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<body name="aux_3x" pos="0.0 -0.2 0"> |
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<joint axis="0 0 1" name="hip_3x" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geomx" size="0.08" type="capsule"/> |
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<body pos="-0.2 -0.2 0"> |
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<joint axis="-1 1 0" name="ankle_3x" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geomx" size="0.08" type="capsule"/> |
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</body> |
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</body> |
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</body> |
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<body name="mid" pos="-1 0 0"> |
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<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/> |
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<body name="front_right_leg" pos="-1 0 0"> |
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<geom fromto="0.0 0.0 0.0 0.0 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/> |
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<body name="aux_2" pos="0.0 0.2 0"> |
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<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/> |
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<body pos="-0.2 0.2 0"> |
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<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/> |
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</body> |
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</body> |
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</body> |
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<body name="back_leg" pos="-1 0 0"> |
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<geom fromto="0.0 0.0 0.0 0.0 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/> |
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<body name="aux_3" pos="0.0 -0.2 0"> |
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<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/> |
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<body pos="-0.2 -0.2 0"> |
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<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/> |
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<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/> |
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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> |
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</worldbody> |
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<actuator> |
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/> |
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/> |
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/> |
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/> |
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/> |
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/> |
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/> |
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/> |
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</actuator> |
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</mujoco> |
