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spider.xml
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<mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<worldbody>
<body name="torso" pos="0 0 .5">
<!--geom name="torso_geom" pos="0 0 0" size="0.15" type="sphere"/-->
<geom name="torso_geom" fromto="0 0 0 0 0 0.08" size="0.5" type="cylinder"/>
<geom name="torso_geom" pos="0 0 0" size="0.15" type="sphere"/>
<joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
<body name="front_left_leg" pos="0.433 0.25 0.0">
<joint axis="0 0 1" name="hip_0" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.1" name="front_left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0 -0.1" name="front_left_thigh">
<joint axis="1 0 0" name="knee_0" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.4 0.0" name="front_left_thigh_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0.4 0" name="front_left_foot">
<joint axis="1 0 0" name="ankle_0" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 0.4 0.0" name="front_left_foot_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
<body name="front_right_leg" pos="0.433 -0.25 0.0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.1" name="front_right_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0 -0.1" name="front_right_thigh">
<joint axis="1 0 0" name="knee_1" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 -0.4 0.0" name="front_right_thigh_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 -0.4 0" name="front_right_foot">
<joint axis="1 0 0" name="ankle_1" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.4 0.0" name="front_right_foot_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
<body name="mid_left_leg" pos="0.0 0.5 0.0">
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.1" name="mid_left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0 -0.1" name="mid_left_thigh">
<joint axis="1 0 0" name="knee_2" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.4 0.0" name="mid_left_thigh_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0.4 0" name="mid_left_foot">
<joint axis="1 0 0" name="ankle_2" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 0.4 0.0" name="mid_left_foot_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
<body name="mid_right_leg" pos="0.0 -0.5 0.0">
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.1" name="mid_right_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0 -0.1" name="mid_right_thigh">
<joint axis="1 0 0" name="knee_3" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 -0.4 0.0" name="mid_right_thigh_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 -0.4 0" name="mid_right_foot">
<joint axis="1 0 0" name="ankle_3" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.4 0.0" name="mid_right_foot_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
<body name="back_left_leg" pos="-0.433 0.25 0.0">
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.1" name="back_left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0 -0.1" name="back_left_thigh">
<joint axis="1 0 0" name="knee_4" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.4 0.0" name="back_left_thigh_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0.4 0" name="back_left_foot">
<joint axis="1 0 0" name="ankle_4" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 0.4 0.0" name="back_left_foot_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
<body name="back_right_leg" pos="-0.433 -0.25 0.0">
<joint axis="0 0 1" name="hip_5" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.1" name="back_right_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0 -0.1" name="back_right_thigh">
<joint axis="1 0 0" name="knee_5" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 -0.4 0.0" name="back_right_thigh_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 -0.4 0" name="back_right_foot">
<joint axis="1 0 0" name="ankle_5" pos="0.0 0.0 0.0" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.4 0.0" name="back_right_foot_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
</actuator>
</mujoco>