Add cross model.
Browse files
cross.xml
ADDED
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| 1 |
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<mujoco model="ant">
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| 2 |
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<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
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<default>
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<joint type="hinge" armature="0.01" damping="0.0" limited="false"/>
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<geom condim="3" friction="1 0.5 0.5" type="capsule" size="0.08" rgba="0.8 0.6 0.4 1"/>
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</default>
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<worldbody>
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<body name="torso">
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<freejoint/>
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<geom fromto="-0.2 -0.2 0.0 0.2 0.2 0.0"/>
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<geom fromto="0.2 -0.2 0.0 -0.2 0.2 0.0"/>
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<body name="front_left_leg" pos="0.2 0.2 0">
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<joint name="ankle_1" axis="-1 1 0"/>
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<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0"/>
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</body>
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<body name="front_right_leg" pos="-0.2 0.2 0">
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<joint name="ankle_2" axis="1 1 0"/>
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<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0"/>
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</body>
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<body name="back_leg" pos="-0.2 -0.2 0">
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<joint name="ankle_3" axis="-1 1 0"/>
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<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0"/>
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</body>
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<body name="right_back_leg" pos="0.2 -0.2 0">
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<joint name="ankle_4" axis="1 1 0"/>
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<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0"/>
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</body>
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</body>
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</worldbody>
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</mujoco>
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