1041 lines
66 KiB
XML
1041 lines
66 KiB
XML
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<mujoco model="fruitfly">
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<compiler autolimits="true" angle="radian" meshdir="assets"/>
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<option timestep="0.0001" gravity="0 0 -981" density="0.00128" viscosity="0.000185" cone="elliptic"
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noslip_iterations="3"/>
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<size njmax="300" nconmax="100" nkey="1"/>
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<default>
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<mesh scale="0.1 0.1 0.1"/>
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<geom friction="0.5" solref="0.0002 1" solimp="0.95 0.99 0.01"/>
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<general ctrllimited="true"/>
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<default class="body">
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<joint limited="true" solreflimit="0.001 1" armature="1e-06"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" material="body" density="0.478"/>
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<site group="3" size="0.01"/>
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<default class="collision">
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<geom type="capsule" contype="1" conaffinity="1" condim="1" group="4" material="blue" density="0"/>
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<default class="adhesion-collision">
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<geom material="pink" friction="0.6" margin="0.0005" gap="0.0005"/>
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<site type="capsule"/>
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</default>
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<default class="collision-membrane">
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<geom group="5"/>
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</default>
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</default>
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<default class="adhesion">
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<general dyntype="none" dynprm="1"/>
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<default class="adhesion_claw">
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<adhesion group="3" ctrlrange="0 1" gain="0.985"/>
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</default>
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<default class="adhesion_labrum">
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<adhesion group="3" ctrlrange="0 1" gain="1"/>
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</default>
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</default>
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<default class="head">
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<joint stiffness="0.03" damping="0.001"/>
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<geom density="0.713"/>
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<general forcerange="-0.1 0.1" biastype="affine" gainprm="0.1" biasprm="0 -0.1"/>
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<default class="labrum">
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<general forcerange="-0.01 0.01" biastype="affine" gainprm="0.01" biasprm="0 -0.01"/>
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</default>
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</default>
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<default class="antenna">
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<joint damping="0.0003"/>
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<general forcerange="-0.01 0.01" biastype="affine" gainprm="0.01" biasprm="0 -0.01"/>
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<default class="antenna_extend">
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<joint axis="1 0 0" range="-0.2 0.5"/>
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</default>
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<default class="antenna_twist">
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<joint axis="0 1 0" range="-0.1 0.09"/>
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</default>
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<default class="antenna_abduct">
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<joint axis="0 0 1" range="-0.4 0.8"/>
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</default>
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</default>
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<default class="wing">
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<joint stiffness="0.01" damping="0.0005"/>
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<general ctrlrange="-1 1"/>
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<default class="yaw">
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<joint axis="0 0 1" range="-1.5 1.5" springref="1.5"/>
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<general gainprm="3"/>
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</default>
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<default class="roll">
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<joint axis="1 0 0" range="-1 1.5" springref="0.7"/>
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<general gainprm="2"/>
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</default>
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<default class="pitch">
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<joint axis="0 1 0" range="-1.27 2.92" springref="-1"/>
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<general gainprm="1"/>
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</default>
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<default class="wing-inertial">
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<geom type="box" rgba="0 0 0 0" mass="8e-06"/>
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</default>
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<default class="wing-fluid">
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<geom type="ellipsoid" group="3" mass="0"/>
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</default>
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</default>
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<default class="abdomen">
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<joint group="3" stiffness="0.05" damping="0.01"/>
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<geom density="0.555"/>
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<general biastype="affine" gainprm="0.1" biasprm="0 -0.1"/>
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<default class="abduct_abdomen">
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<joint axis="0 0 1" range="-0.1 0.1"/>
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</default>
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<default class="extend_abdomen">
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<joint axis="1 0 0" range="-0.15 0.1"/>
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</default>
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</default>
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<default class="haltere">
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<joint axis="1 0 0" springdamper="0.005 0.1" range="-0.2 0.2"/>
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</default>
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<default class="leg">
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<joint stiffness="0.01" damping="0.01"/>
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<geom density="1.18"/>
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<default class="coxa">
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<general biastype="affine" gainprm="0.8" biasprm="0 -0.8"/>
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<default class="twist_coxa_T1">
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<joint axis="0 1 0" range="-0.8 0.8"/>
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<general ctrlrange="-0.8 0.8"/>
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</default>
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<default class="abduct_coxa_T1">
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<joint axis="0 0 1" range="-1 0.7"/>
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<general ctrlrange="-1 0.7"/>
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</default>
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<default class="extend_coxa_T1">
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<joint axis="1 0 0" range="-0.2 1.7" springref="0.0584"/>
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<general ctrlrange="-0.2 1.7"/>
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</default>
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<default class="twist_coxa_T2">
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<joint axis="0 1 0" range="-0.75 0.8" springref="-0.742"/>
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<general ctrlrange="-0.75 0.8"/>
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</default>
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<default class="abduct_coxa_T2">
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<joint axis="0 0 1" range="-0.5 0.3" springref="-0.292"/>
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<general ctrlrange="-0.5 0.3"/>
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</default>
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<default class="extend_coxa_T2">
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<joint axis="1 0 0" range="-0.2 0.9" springref="0.408"/>
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<general ctrlrange="-0.2 0.9"/>
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</default>
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<default class="twist_coxa_T3">
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<joint axis="0 1 0" range="-0.15 0.8" springref="0.00841"/>
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<general ctrlrange="-0.15 0.8"/>
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</default>
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<default class="abduct_coxa_T3">
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<joint axis="0 0 1" range="-0.9 0.25"/>
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<general ctrlrange="-0.9 0.25"/>
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</default>
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<default class="extend_coxa_T3">
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<joint axis="1 0 0" range="-0.3 1.3" springref="0.158"/>
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<general ctrlrange="-0.3 1.3"/>
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</default>
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</default>
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<default class="femur">
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<general biastype="affine" gainprm="0.8" biasprm="0 -0.8"/>
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<default class="twist_femur">
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<joint axis="0 1 0" range="-1 1"/>
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<general ctrlrange="-1 1"/>
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<default class="twist_femur_T2">
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<joint springref="0.608"/>
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</default>
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<default class="twist_femur_T3">
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<joint springref="0.558"/>
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</default>
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</default>
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<default class="extend_femur">
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<joint axis="1 0 0" range="-0.15 2"/>
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<general ctrlrange="-0.15 2"/>
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<default class="extend_femur_T1">
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<joint springref="-0.142"/>
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</default>
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<default class="extend_femur_T2">
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<joint springref="0.208"/>
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</default>
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</default>
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<default class="extend_femur_T3">
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<joint axis="1 0 0" range="-0.7 1.5" springref="0.258"/>
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<general ctrlrange="-0.7 1.5"/>
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</default>
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</default>
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<default class="tibia">
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<joint damping="0.004"/>
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<general biastype="affine" gainprm="0.4" biasprm="0 -0.4"/>
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<default class="extend_tibia">
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<joint axis="1 0 0" range="-1.35 1.3" springref="-1.29"/>
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<general ctrlrange="-1.35 1.3"/>
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<default class="extend_tibia_T2">
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<joint springref="-1.34"/>
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</default>
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<default class="extend_tibia_T3">
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<joint springref="-0.292"/>
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</default>
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</default>
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</default>
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<default class="tarsus">
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<joint axis="1 0 0"/>
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<general biastype="affine" gainprm="0.4" biasprm="0 -0.4"/>
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<default class="extend_tarsus_T1">
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<joint range="-0.7 1.2" springref="-0.242"/>
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<general ctrlrange="-0.7 1.2"/>
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</default>
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<default class="extend_tarsus_T2">
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<joint range="-1 1.8" springref="0.608"/>
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<general ctrlrange="-1 1.8"/>
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</default>
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<default class="extend_tarsus_T3">
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<joint range="-0.8 1.2" springref="0.258"/>
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<general ctrlrange="-0.8 1.2"/>
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</default>
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<default class="extend_tarsus">
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<joint group="3" stiffness="0.1" range="-0.36 0.36" damping="0.002"/>
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<general ctrlrange="-0.36 0.36"/>
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</default>
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</default>
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</default>
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</default>
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</default>
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<asset>
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<material name="body" shininess="0.6" rgba="0.674 0.35 0.143 1"/>
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<material name="red" shininess="0.692" rgba="0.8 0.0279 0.00154 1"/>
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<material name="ocelli" shininess="1" rgba="0.128 0.0488 0.0154 1"/>
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<material name="black" shininess="0.727" rgba="0 0 0 1"/>
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<material name="bristle-brown" shininess="0.907" rgba="0 0 0 1"/>
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<material name="lower" shininess="0.6" rgba="0.799 0.61 0.386 1"/>
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<material name="brown" shininess="0.6" rgba="0.202 0.0782 0.0262 1"/>
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<material name="membrane" specular="0.62" shininess="0.907" rgba="0.539 0.686 0.8 0.4"/>
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<material name="blue" shininess="0.6" rgba="0.2 0.3 1 1"/>
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<mesh name="head" file="head_body.obj"/>
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<mesh name="head_red" file="head_red.obj"/>
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<mesh name="head_ocelli" file="head_ocelli.obj"/>
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<mesh name="head_black" file="head_black.obj"/>
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<mesh name="haustellum" file="haustellum_body.obj"/>
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<mesh name="haustellum_black" file="haustellum_black.obj"/>
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<mesh name="rostrum" file="rostrum_body.obj"/>
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<mesh name="rostrum_bristle-brown" file="rostrum_bristle-brown.obj"/>
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<mesh name="labrum_left_lower" file="labrum_left_lower.obj"/>
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<mesh name="wing_left_brown" file="wing_left_brown.obj"/>
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<mesh name="wing_left_membrane" file="wing_left_membrane.obj"/>
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<mesh name="antenna_left" file="antenna_left_body.obj"/>
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<mesh name="antenna_left_black" file="antenna_left_black.obj"/>
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<mesh name="haltere_left" file="haltere_left_body.obj"/>
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<mesh name="labrum_right_lower" file="labrum_right_lower.obj"/>
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<mesh name="wing_right_brown" file="wing_right_brown.obj"/>
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<mesh name="wing_right_membrane" file="wing_right_membrane.obj"/>
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<mesh name="antenna_right" file="antenna_right_body.obj"/>
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<mesh name="antenna_right_black" file="antenna_right_black.obj"/>
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<mesh name="haltere_right" file="haltere_right_body.obj"/>
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<mesh name="thorax" file="thorax_body.obj"/>
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<mesh name="thorax_black" file="thorax_black.obj"/>
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<mesh name="abdomen_1" file="abdomen_1_body.obj"/>
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<mesh name="abdomen_1_lower" file="abdomen_1_lower.obj"/>
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<mesh name="abdomen_2" file="abdomen_2_body.obj"/>
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<mesh name="abdomen_2_lower" file="abdomen_2_lower.obj"/>
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<mesh name="abdomen_3" file="abdomen_3_body.obj"/>
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<mesh name="abdomen_3_lower" file="abdomen_3_lower.obj"/>
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<mesh name="abdomen_4" file="abdomen_4_body.obj"/>
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<mesh name="abdomen_4_lower" file="abdomen_4_lower.obj"/>
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<mesh name="abdomen_5" file="abdomen_5_body.obj"/>
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<mesh name="abdomen_5_lower" file="abdomen_5_lower.obj"/>
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<mesh name="abdomen_6" file="abdomen_6_body.obj"/>
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<mesh name="abdomen_6_lower" file="abdomen_6_lower.obj"/>
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<mesh name="abdomen_7" file="abdomen_7_body.obj"/>
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<mesh name="abdomen_7_lower" file="abdomen_7_lower.obj"/>
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<mesh name="abdomen_8" file="abdomen_8_body.obj"/>
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<mesh name="tibia_T1_left" file="tibia_T1_left_body.obj"/>
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<mesh name="tarsus_T1_1_left" file="tarsus_T1_1_left_body.obj"/>
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<mesh name="tarsus_T1_2_left" file="tarsus_T1_2_left_body.obj"/>
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<mesh name="tarsus_T1_3_left" file="tarsus_T1_3_left_body.obj"/>
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<mesh name="tarsus_T1_4_left" file="tarsus_T1_4_left_body.obj"/>
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<mesh name="tarsal_claw_T1_left_brown" file="tarsal_claw_T1_left_brown.obj"/>
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<mesh name="tarsus_T2_2_left" file="tarsus_T2_2_left_body.obj"/>
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<mesh name="tarsus_T2_3_left" file="tarsus_T2_3_left_body.obj"/>
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<mesh name="tarsus_T2_4_left" file="tarsus_T2_4_left_body.obj"/>
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<mesh name="tarsal_claw_T2_left_brown" file="tarsal_claw_T2_left_brown.obj"/>
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<mesh name="tarsus_T2_1_left" file="tarsus_T2_1_left_body.obj"/>
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<mesh name="tarsus_T3_2_left" file="tarsus_T3_2_left_body.obj"/>
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<mesh name="tarsus_T3_3_left" file="tarsus_T3_3_left_body.obj"/>
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<mesh name="tarsus_T3_4_left" file="tarsus_T3_4_left_body.obj"/>
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<mesh name="tarsal_claw_T3_left_brown" file="tarsal_claw_T3_left_brown.obj"/>
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<mesh name="tarsus_T3_1_left" file="tarsus_T3_1_left_body.obj"/>
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<mesh name="tibia_T2_left" file="tibia_T2_left_body.obj"/>
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<mesh name="tibia_T3_left" file="tibia_T3_left_body.obj"/>
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<mesh name="femur_T1_left" file="femur_T1_left_body.obj"/>
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<mesh name="femur_T2_left" file="femur_T2_left_body.obj"/>
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<mesh name="femur_T3_left" file="femur_T3_left_body.obj"/>
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<mesh name="femur_T1_right" file="femur_T1_right_body.obj"/>
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<mesh name="tibia_T1_right" file="tibia_T1_right_body.obj"/>
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<mesh name="tarsus_T1_1_right" file="tarsus_T1_1_right_body.obj"/>
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<mesh name="tarsus_T1_2_right" file="tarsus_T1_2_right_body.obj"/>
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<mesh name="tarsus_T1_3_right" file="tarsus_T1_3_right_body.obj"/>
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<mesh name="tarsus_T1_4_right" file="tarsus_T1_4_right_body.obj"/>
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<mesh name="tarsal_claw_T1_right_brown" file="tarsal_claw_T1_right_brown.obj"/>
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<mesh name="femur_T2_right" file="femur_T2_right_body.obj"/>
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<mesh name="tibia_T2_right" file="tibia_T2_right_body.obj"/>
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<mesh name="tarsus_T2_1_right" file="tarsus_T2_1_right_body.obj"/>
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<mesh name="tarsus_T2_2_right" file="tarsus_T2_2_right_body.obj"/>
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|
|
<mesh name="tarsus_T2_3_right" file="tarsus_T2_3_right_body.obj"/>
|
||
|
|
<mesh name="tarsus_T2_4_right" file="tarsus_T2_4_right_body.obj"/>
|
||
|
|
<mesh name="tarsal_claw_T2_right_brown" file="tarsal_claw_T2_right_brown.obj"/>
|
||
|
|
<mesh name="femur_T3_right" file="femur_T3_right_body.obj"/>
|
||
|
|
<mesh name="tibia_T3_right" file="tibia_T3_right_body.obj"/>
|
||
|
|
<mesh name="tarsus_T3_1_right" file="tarsus_T3_1_right_body.obj"/>
|
||
|
|
<mesh name="tarsus_T3_2_right" file="tarsus_T3_2_right_body.obj"/>
|
||
|
|
<mesh name="tarsus_T3_3_right" file="tarsus_T3_3_right_body.obj"/>
|
||
|
|
<mesh name="tarsus_T3_4_right" file="tarsus_T3_4_right_body.obj"/>
|
||
|
|
<mesh name="tarsal_claw_T3_right_brown" file="tarsal_claw_T3_right_brown.obj"/>
|
||
|
|
<mesh name="coxa_T1_left" file="coxa_T1_left_body.obj"/>
|
||
|
|
<mesh name="coxa_T1_right" file="coxa_T1_right_body.obj"/>
|
||
|
|
<mesh name="coxa_T2_left" file="coxa_T2_left_body.obj"/>
|
||
|
|
<mesh name="coxa_T2_right" file="coxa_T2_right_body.obj"/>
|
||
|
|
<mesh name="coxa_T3_left" file="coxa_T3_left_body.obj"/>
|
||
|
|
<mesh name="coxa_T3_right" file="coxa_T3_right_body.obj"/>
|
||
|
|
<material name="pink" rgba="0.6 0.3 1 1"/>
|
||
|
|
</asset>
|
||
|
|
|
||
|
|
<worldbody>
|
||
|
|
<body name="thorax" childclass="body">
|
||
|
|
<freejoint name="free"/>
|
||
|
|
<light name="right" mode="trackcom" pos="0 -1 1" dir="0 1 -1" diffuse="0.3 0.3 0.3"/>
|
||
|
|
<camera name="track1" mode="trackcom" pos="0.6 0.6 0.22" quat="0.312 0.221 0.533 0.754"/>
|
||
|
|
<camera name="track2" mode="trackcom" pos="0 -1.1 0.1" quat="0.707 0.707 0 0"/>
|
||
|
|
<camera name="track3" mode="trackcom" pos="-0.9 -0.9 0.9" quat="0.82 0.425 -0.176 -0.34"/>
|
||
|
|
<camera name="back" mode="track" pos="-0.462 0 0.297" xyaxes="0 -1 0 0.707 0 0.707"/>
|
||
|
|
<camera name="side" mode="track" pos="-0.045 0.424 -0.035" xyaxes="-1 0 0 0 0 1"/>
|
||
|
|
<camera name="bottom" mode="track" pos="0.01 0 -0.516" xyaxes="0 1 0 0.991 0 0.136"/>
|
||
|
|
<camera name="hero" mode="track" pos="0.271 0.27 -0.044" xyaxes="-0.641 0.767 0 -0.045 -0.037 0.998"/>
|
||
|
|
<light name="left" mode="trackcom" pos="0 1 1" dir="0 -1 -1" diffuse="0.3 0.3 0.3"/>
|
||
|
|
<light name="tracking" mode="trackcom" pos="0 0 1"/>
|
||
|
|
<site name="thorax"/>
|
||
|
|
<site name="hover_up_dir" pos="0.0262 0 0.0262" quat="0.915 0 0.403 0"/>
|
||
|
|
<geom name="thorax" mass="0.00034" pos="-0.00791 0 -0.123" quat="0 0 0 -1" mesh="thorax"/>
|
||
|
|
<geom name="thorax_collision" class="collision" type="ellipsoid" size="0.0437 0.0437 0.0551"
|
||
|
|
pos="0.00168 0 -0.00262" quat="0 -0.479 0 -0.878"/>
|
||
|
|
<geom name="thorax_collision2" class="collision" type="ellipsoid" size="0.0499 0.028 0.0114"
|
||
|
|
pos="-0.00445 0 0.0219" quat="0 -0.199 0 -0.98"/>
|
||
|
|
<geom name="thorax_black" material="black" mass="0" pos="-0.00791 0 -0.123" quat="0 0 0 -1" mesh="thorax_black"/>
|
||
|
|
<body name="head" childclass="head" pos="0.0567 3.81e-07 -0.00305" quat="0.702 -0.087 0.087 -0.702">
|
||
|
|
<site name="head" pos="0 0.015 0" quat="0 0 0 1"/>
|
||
|
|
<joint name="head_abduct" axis="0 0 1" range="-0.2 0.2"/>
|
||
|
|
<joint name="head_twist" axis="0 1 0" range="-3 3"/>
|
||
|
|
<joint name="head" axis="1 0 0" range="-0.5 0.3"/>
|
||
|
|
<geom name="head_collision" class="collision" type="ellipsoid" size="0.0455 0.0262 0.0324"
|
||
|
|
pos="0 0.0149 0.000875" euler="0.3 0 0"/>
|
||
|
|
<geom name="head" pos="4.11e-07 -0.0334 -0.132" quat="0.702 0.087 0.087 -0.702" mesh="head"/>
|
||
|
|
<geom name="head_red" material="red" pos="4.11e-07 -0.0334 -0.132" quat="0.702 0.087 0.087 -0.702"
|
||
|
|
mesh="head_red"/>
|
||
|
|
<geom name="head_ocelli" material="ocelli" pos="4.11e-07 -0.0334 -0.132" quat="0.702 0.087 0.087 -0.702"
|
||
|
|
mesh="head_ocelli"/>
|
||
|
|
<camera name="eye_right" fovy="140" pos="0.0219 0.0131 0" quat="0.474 0.688 -0.344 -0.429"/>
|
||
|
|
<camera name="eye_left" fovy="140" pos="-0.0219 0.0131 0" quat="0.474 0.688 0.344 0.429"/>
|
||
|
|
<geom name="head_black" material="black" mass="0" pos="4.11e-07 -0.0334 -0.132" quat="0.702 0.087 0.087 -0.702"
|
||
|
|
mesh="head_black"/>
|
||
|
|
<body name="rostrum" pos="0 0.0368 -0.0235" quat="2.2e-07 -1.21e-07 0.192 -0.981">
|
||
|
|
<joint name="rostrum" axis="1 0 0" range="-1.24 0.183" springref="0.8"/>
|
||
|
|
<geom name="rostrum" pos="-4e-07 0.106 -0.0742" quat="0.705 0.0494 -0.0494 0.705" mesh="rostrum"/>
|
||
|
|
<geom name="rostrum_collision_right" class="collision" size="0.0035"
|
||
|
|
fromto="0.00613 0.0324 0 0.0114 0.0245 -0.0236"/>
|
||
|
|
<geom name="rostrum_collision_left" class="collision" size="0.0035"
|
||
|
|
fromto="-0.00613 0.0324 0 -0.0114 0.0245 -0.0236"/>
|
||
|
|
<geom name="rostrum_collision" class="collision" type="ellipsoid" size="0.0131 0.0219 0.0131"
|
||
|
|
pos="0 0.0175 0.00263" euler="0.1 0 0"/>
|
||
|
|
<geom name="rostrum_bristle-brown" material="bristle-brown" pos="-4e-07 0.106 -0.0742"
|
||
|
|
quat="0.705 0.0494 -0.0494 0.705" mesh="rostrum_bristle-brown"/>
|
||
|
|
<body name="haustellum" pos="0 0.0377 0" quat="2.33e-07 -1.56e-07 -0.347 0.938">
|
||
|
|
<joint name="haustellum_abduct" axis="0 0 1" range="-0.0873 0.0873"/>
|
||
|
|
<joint name="haustellum" axis="1 0 0" range="-1.59 0.7" springref="0.8"/>
|
||
|
|
<geom name="haustellum" pos="4.24e-07 -0.00352 -0.101" quat="0.679 0.198 0.198 -0.679" mesh="haustellum"/>
|
||
|
|
<geom name="haustellum_collision" class="collision" type="capsule" size="0.00788 0.00788"
|
||
|
|
pos="0 0.0123 -0.000948" quat="0.633 0.774 0 0"/>
|
||
|
|
<geom name="haustellum_black" material="black" mass="0" pos="4.24e-07 -0.00352 -0.101"
|
||
|
|
quat="0.679 0.198 0.198 -0.679" mesh="haustellum_black"/>
|
||
|
|
<body name="labrum_left" childclass="labrum" pos="-0.00263 0.0182 0" quat="0.741 -0.0142 -0.591 0.319">
|
||
|
|
<joint name="labrum_left" axis="1 0 0" range="-0.00524 1.05"/>
|
||
|
|
<geom name="labrum_left_lower" material="lower" pos="-0.0977 0.0216 -0.0249"
|
||
|
|
quat="-0.166 0.181 -0.494 0.834" mesh="labrum_left_lower"/>
|
||
|
|
<geom name="labrum_left_lower_collision" class="adhesion-collision" type="ellipsoid"
|
||
|
|
size="0.0035 0.00875 0.0131" pos="-0.000603 0.0106 -0.00438" quat="-0.174 -0.715 0.0876 0.672"/>
|
||
|
|
</body>
|
||
|
|
<body name="labrum_right" childclass="labrum" pos="0.00263 0.0182 0" quat="0.699 0.00274 0.642 -0.316">
|
||
|
|
<joint name="labrum_right" axis="1 0 0" range="-0.00524 1.05"/>
|
||
|
|
<geom name="labrum_right_lower" material="lower" pos="0.1 0.022 -0.0113" quat="-0.817 -0.509 0.236 0.133"
|
||
|
|
mesh="labrum_right_lower"/>
|
||
|
|
<geom name="labrum_right_lower_collision" class="adhesion-collision" type="ellipsoid"
|
||
|
|
size="0.0035 0.00875 0.0131" pos="0.00116 0.0106 -0.00414" quat="-0.175 -0.668 -0.0724 -0.719"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="antenna_left" pos="-0.00795 0.0378 0.0129" quat="0.785 -0.59 -0.0128 0.192">
|
||
|
|
<joint name="antenna_abduct_left" class="antenna_abduct"/>
|
||
|
|
<joint name="antenna_twist_left" class="antenna_twist"/>
|
||
|
|
<joint name="antenna_left" class="antenna_extend"/>
|
||
|
|
<geom name="antenna_left" pos="0.0148 0.116 -0.112" quat="0.364 0.49 0.474 -0.635" mesh="antenna_left"/>
|
||
|
|
<geom name="antenna_left_collision" class="collision" type="capsule" size="0.00481 0.00875"
|
||
|
|
pos="0 0.0114 0.00263" quat="0.634 -0.773 0 0"/>
|
||
|
|
<geom name="antenna_left_black" material="black" mass="0" pos="0.0148 0.116 -0.112"
|
||
|
|
quat="0.364 0.49 0.474 -0.635" mesh="antenna_left_black"/>
|
||
|
|
</body>
|
||
|
|
<body name="antenna_right" pos="0.00861 0.038 0.0129" quat="0.59 0.785 -0.192 -0.0128">
|
||
|
|
<joint name="antenna_abduct_right" class="antenna_abduct"/>
|
||
|
|
<joint name="antenna_twist_right" class="antenna_twist"/>
|
||
|
|
<joint name="antenna_right" class="antenna_extend"/>
|
||
|
|
<geom name="antenna_right" pos="-0.0153 -0.116 0.112" quat="-0.474 0.635 0.364 0.49" mesh="antenna_right"/>
|
||
|
|
<geom name="antenna_right_collision" class="collision" type="capsule" size="0.00481 0.00875"
|
||
|
|
pos="-0.000616 -0.0114 -0.00231" quat="0.782 0.623 -0.0258 -0.0164"/>
|
||
|
|
<geom name="antenna_right_black" material="black" mass="0" pos="-0.0153 -0.116 0.112"
|
||
|
|
quat="-0.474 0.635 0.364 0.49" mesh="antenna_right_black"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="wing_left" childclass="wing" pos="-0.00694 0.0432 0.0091" quat="0 -0.403 0 -0.915">
|
||
|
|
<joint name="wing_yaw_left" class="yaw"/>
|
||
|
|
<joint name="wing_roll_left" class="roll"/>
|
||
|
|
<joint name="wing_pitch_left" class="pitch"/>
|
||
|
|
<geom name="wing_left_brown" material="brown" mass="0" pos="-0.0968 0.0432 -0.09" quat="-0.915 0 -0.403 0"
|
||
|
|
mesh="wing_left_brown"/>
|
||
|
|
<geom name="wing_left_brown_collision" class="collision" type="ellipsoid" size="0.00219 0.0175 0.114"
|
||
|
|
pos="0.00186 -0.11 -0.00166" quat="-0.673 -0.647 0.26 -0.248"/>
|
||
|
|
<geom name="wing_left_membrane" material="membrane" mass="0" pos="-0.0968 0.0432 -0.09" quat="-0.915 0 -0.403 0"
|
||
|
|
mesh="wing_left_membrane"/>
|
||
|
|
<geom name="wing_left_membrane_collision" class="collision-membrane" type="ellipsoid"
|
||
|
|
size="0.00306 0.0551 0.114" pos="0.0263 -0.148 -0.0289" quat="-0.685 -0.634 0.265 -0.243"/>
|
||
|
|
<geom name="wing_left_fluid" class="wing-fluid" size="0.0005 0.0551 0.114" pos="0.0263 -0.148 -0.0289"
|
||
|
|
quat="-0.685 -0.634 0.265 -0.243"/>
|
||
|
|
<geom name="wing_left_inertial" class="wing-inertial" size="0.0005 0.0551 0.114" pos="0.0263 -0.148 -0.0289"
|
||
|
|
quat="-0.685 -0.634 0.265 -0.243"/>
|
||
|
|
</body>
|
||
|
|
<body name="wing_right" childclass="wing" pos="-0.00694 -0.0432 0.0091" quat="0 0.915 0 -0.403">
|
||
|
|
<joint name="wing_yaw_right" class="yaw"/>
|
||
|
|
<joint name="wing_roll_right" class="roll"/>
|
||
|
|
<joint name="wing_pitch_right" class="pitch"/>
|
||
|
|
<geom name="wing_right_brown" material="brown" mass="0" pos="0.0968 -0.0432 0.09" quat="-0.403 0 0.915 0"
|
||
|
|
mesh="wing_right_brown"/>
|
||
|
|
<geom name="wing_right_brown_collision" class="collision" type="ellipsoid" size="0.00219 0.0175 0.114"
|
||
|
|
pos="-0.00186 0.11 0.00166" quat="0.248 0.26 0.647 -0.673"/>
|
||
|
|
<geom name="wing_right_membrane" material="membrane" mass="0" pos="0.0968 -0.0432 0.09" quat="-0.403 0 0.915 0"
|
||
|
|
mesh="wing_right_membrane"/>
|
||
|
|
<geom name="wing_right_membrane_collision" class="collision-membrane" type="ellipsoid"
|
||
|
|
size="0.00306 0.0551 0.114" pos="-0.0263 0.148 0.0289" quat="0.243 0.265 0.634 -0.685"/>
|
||
|
|
<geom name="wing_right_fluid" class="wing-fluid" size="0.0005 0.0551 0.114" pos="-0.0263 0.148 0.0289"
|
||
|
|
quat="0.243 0.265 0.634 -0.685"/>
|
||
|
|
<geom name="wing_right_inertial" class="wing-inertial" size="0.0005 0.0551 0.114" pos="-0.0263 0.148 0.0289"
|
||
|
|
quat="0.243 0.265 0.634 -0.685"/>
|
||
|
|
</body>
|
||
|
|
<body name="abdomen" childclass="abdomen" pos="-0.0447 -0.000555 0.00428" quat="-0.704 -0.0859 -0.0853 -0.7">
|
||
|
|
<joint name="abdomen_abduct" class="abduct_abdomen"/>
|
||
|
|
<joint name="abdomen" class="extend_abdomen"/>
|
||
|
|
<geom name="abdomen" pos="0.000758 -0.0663 -0.115" quat="0.7 -0.0853 0.0859 0.704" mesh="abdomen_1"/>
|
||
|
|
<geom name="abdomen_lower" material="lower" pos="0.000758 -0.0663 -0.115" quat="0.7 -0.0853 0.0859 0.704"
|
||
|
|
mesh="abdomen_1_lower"/>
|
||
|
|
<geom name="abdomen_collision" class="collision" type="cylinder" size="0.0281 0.0102 0"
|
||
|
|
pos="-0.000187 0.00646 -0.0146" quat="0.0104 -0.0205 0.824 0.566"/>
|
||
|
|
<body name="abdomen_2" pos="0 0.0119 0" quat="0.981 -0.192 -0.000269 0.00144">
|
||
|
|
<joint name="abdomen_abduct_2" class="abduct_abdomen"/>
|
||
|
|
<joint name="abdomen_2" class="extend_abdomen"/>
|
||
|
|
<geom name="abdomen_2" pos="0.000532 -0.0293 -0.136" quat="0.704 0.0507 -0.0503 0.706" mesh="abdomen_2"/>
|
||
|
|
<geom name="abdomen_2_lower" material="lower" pos="0.000532 -0.0293 -0.136" quat="0.704 0.0507 -0.0503 0.706"
|
||
|
|
mesh="abdomen_2_lower"/>
|
||
|
|
<geom name="abdomen_2_collision" class="collision" type="cylinder" size="0.0367 0.0142 0"
|
||
|
|
pos="-0.000182 0.0166 -0.0177" quat="-0.0111 0.0103 0.695 0.719"/>
|
||
|
|
<body name="abdomen_3" pos="0 0.0212 0" quat="0.996 -0.0909 6.69e-05 0.000525">
|
||
|
|
<joint name="abdomen_abduct_3" class="abduct_abdomen"/>
|
||
|
|
<joint name="abdomen_3" class="extend_abdomen"/>
|
||
|
|
<geom name="abdomen_3" pos="0.000511 -0.0251 -0.143" quat="0.697 0.114 -0.114 0.699" mesh="abdomen_3"/>
|
||
|
|
<geom name="abdomen_3_lower" material="lower" pos="0.000511 -0.0251 -0.143" quat="0.697 0.114 -0.114 0.699"
|
||
|
|
mesh="abdomen_3_lower"/>
|
||
|
|
<geom name="abdomen_3_collision" class="collision" type="cylinder" size="0.0389 0.0194 0"
|
||
|
|
pos="3.29e-05 0.0198 -0.0174" quat="0.71 -0.591 0.239 0.3"/>
|
||
|
|
<body name="abdomen_4" pos="0 0.0313 0" quat="0.999 -0.0332 0.000147 -0.000229">
|
||
|
|
<joint name="abdomen_abduct_4" class="abduct_abdomen"/>
|
||
|
|
<joint name="abdomen_4" class="extend_abdomen"/>
|
||
|
|
<geom name="abdomen_4" pos="0.000577 -0.0468 -0.146" quat="0.693 0.137 -0.138 0.695" mesh="abdomen_4"/>
|
||
|
|
<geom name="abdomen_4_lower" material="lower" pos="0.000577 -0.0468 -0.146"
|
||
|
|
quat="0.693 0.137 -0.138 0.695" mesh="abdomen_4_lower"/>
|
||
|
|
<geom name="abdomen_4_collision" class="collision" type="cylinder" size="0.0396 0.0176 0"
|
||
|
|
pos="9.67e-05 0.015 -0.0192" quat="0.0186 -0.0235 0.637 0.77"/>
|
||
|
|
<body name="abdomen_5" pos="0 0.0262 0" quat="0.999 -0.0368 -4.72e-05 -0.000327">
|
||
|
|
<joint name="abdomen_abduct_5" class="abduct_abdomen"/>
|
||
|
|
<joint name="abdomen_5" class="extend_abdomen"/>
|
||
|
|
<geom name="abdomen_5" pos="0.000607 -0.062 -0.151" quat="0.687 0.163 -0.163 0.689" mesh="abdomen_5"/>
|
||
|
|
<geom name="abdomen_5_lower" material="lower" pos="0.000607 -0.062 -0.151"
|
||
|
|
quat="0.687 0.163 -0.163 0.689" mesh="abdomen_5_lower"/>
|
||
|
|
<geom name="abdomen_5_collision" class="collision" type="cylinder" size="0.0371 0.016 0"
|
||
|
|
pos="0.000282 0.0105 -0.0187" quat="0.0262 -0.0206 0.624 0.781"/>
|
||
|
|
<body name="abdomen_6" pos="0 0.0213 0" quat="0.998 -0.0662 0.000156 -0.000351">
|
||
|
|
<joint name="abdomen_abduct_6" class="abduct_abdomen"/>
|
||
|
|
<joint name="abdomen_6" class="extend_abdomen"/>
|
||
|
|
<geom name="abdomen_6" pos="0.000707 -0.0626 -0.161" quat="0.674 0.208 -0.208 0.677" mesh="abdomen_6"/>
|
||
|
|
<geom name="abdomen_6_lower" material="lower" pos="0.000707 -0.0626 -0.161"
|
||
|
|
quat="0.674 0.208 -0.208 0.677" mesh="abdomen_6_lower"/>
|
||
|
|
<geom name="abdomen_6_collision" class="collision" type="cylinder" size="0.0334 0.0141 0"
|
||
|
|
pos="-0.000157 0.00942 -0.017" quat="-0.00292 0.00201 0.592 0.806"/>
|
||
|
|
<body name="abdomen_7" pos="0 0.0182 0" quat="0.995 -0.102 -1.79e-06 -0.000187">
|
||
|
|
<joint name="abdomen_abduct_7" class="abduct_abdomen"/>
|
||
|
|
<joint name="abdomen_7" class="extend_abdomen"/>
|
||
|
|
<geom name="abdomen_8" pos="0.000731 -0.0464 -0.174" quat="0.649 0.276 -0.276 0.653"
|
||
|
|
mesh="abdomen_8"/>
|
||
|
|
<geom name="abdomen_7" pos="0.000731 -0.0464 -0.174" quat="0.649 0.276 -0.276 0.653"
|
||
|
|
mesh="abdomen_7"/>
|
||
|
|
<geom name="abdomen_7_collision" class="collision" type="sphere" size="0.0262"
|
||
|
|
pos="-3.83e-05 0.0134 -0.0108"/>
|
||
|
|
<geom name="abdomen_7_lower" material="lower" pos="0.000731 -0.0464 -0.174"
|
||
|
|
quat="0.649 0.276 -0.276 0.653" mesh="abdomen_7_lower"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="haltere_left" childclass="haltere" pos="-0.0386 0.0247 -0.00866" quat="0.291 -0.204 0.826 0.439">
|
||
|
|
<joint name="haltere_left"/>
|
||
|
|
<geom name="haltere_left" pos="0.0545 -0.101 0.0395" quat="-0.439 0.826 0.204 -0.291" mesh="haltere_left"/>
|
||
|
|
</body>
|
||
|
|
<body name="haltere_right" childclass="haltere" pos="-0.0386 -0.0247 -0.00866" quat="-0.438 -0.829 0.206 -0.28">
|
||
|
|
<joint name="haltere_right"/>
|
||
|
|
<geom name="haltere_right" pos="-0.0528 -0.101 0.0405" quat="0.28 0.206 0.829 0.438" mesh="haltere_right"/>
|
||
|
|
</body>
|
||
|
|
<body name="coxa_T1_left" childclass="leg" pos="0.0317 0.0209 -0.0272" quat="-0.532 0.787 -0.311 -0.0229">
|
||
|
|
<joint name="coxa_abduct_T1_left" class="abduct_coxa_T1"/>
|
||
|
|
<joint name="coxa_twist_T1_left" class="twist_coxa_T1"/>
|
||
|
|
<joint name="coxa_T1_left" class="extend_coxa_T1"/>
|
||
|
|
<geom name="coxa_T1_left" pos="0.0131 0.104 0.0119" quat="0.0229 -0.311 -0.787 0.532" mesh="coxa_T1_left"/>
|
||
|
|
<geom name="coxa_T1_left_collision" class="collision" type="ellipsoid" size="0.00679 0.00752 0.0208"
|
||
|
|
pos="-2.04e-05 0.0261 -0.000454" quat="-0.417 -0.383 -0.532 0.63"/>
|
||
|
|
<body name="femur_T1_left" pos="0 0.0437 0" quat="0 0 0.252 0.968">
|
||
|
|
<joint name="femur_twist_T1_left" class="twist_femur"/>
|
||
|
|
<joint name="femur_T1_left" class="extend_femur_T1"/>
|
||
|
|
<geom name="femur_T1_left" pos="-0.0131 -0.0472 0.04" quat="0.316 -0.896 0.295 -0.101" mesh="femur_T1_left"/>
|
||
|
|
<geom name="femur_T1_left_collision" class="collision" size="0.005"
|
||
|
|
fromto="0.00263 0.00263 0.00438 0 0.0662 0"/>
|
||
|
|
<body name="tibia_T1_left" pos="0 0.0697 0" quat="0.186 0.162 0.677 -0.694">
|
||
|
|
<joint name="tibia_T1_left" class="extend_tibia"/>
|
||
|
|
<geom name="tibia_T1_left" pos="-0.00315 -0.0396 0.118" quat="-0.183 0.354 0.797 0.453" mesh="tibia_T1_left"/>
|
||
|
|
<geom name="tibia_T1_left_collision" class="collision" size="0.00362" fromto="0 0 0 0 -0.051 0.00175"/>
|
||
|
|
<body name="tarsus_T1_left" pos="0 -0.051 0.00175" quat="0.039 0.998 0.00674 0.0474">
|
||
|
|
<joint name="tarsus_T1_left" class="extend_tarsus_T1"/>
|
||
|
|
<geom name="tarsus_T1_left" pos="0.00797 -0.00233 -0.116" quat="-0.373 -0.231 -0.468 0.767"
|
||
|
|
mesh="tarsus_T1_1_left"/>
|
||
|
|
<geom name="tarsus_T1_left_collision" class="collision" size="0.00204"
|
||
|
|
fromto="0 0 0 -0.000165 0.0235 0.00174"/>
|
||
|
|
<site name="tarsus_T1_left"/>
|
||
|
|
<body name="tarsus2_T1_left" pos="-0.000165 0.0235 0.00174">
|
||
|
|
<joint name="tarsus2_T1_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus2_T1_left" pos="0.00813 -0.0258 -0.118" quat="0.373 0.231 0.468 -0.767"
|
||
|
|
mesh="tarsus_T1_2_left"/>
|
||
|
|
<geom name="tarsus2_T1_left_collision" class="collision" size="0.00159"
|
||
|
|
fromto="0 0 0 0.000113 0.0136 0.000556"/>
|
||
|
|
<body name="tarsus3_T1_left" pos="0.000113 0.0136 0.000556">
|
||
|
|
<joint name="tarsus3_T1_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus3_T1_left" pos="0.00802 -0.0394 -0.119" quat="-0.373 -0.231 -0.468 0.767"
|
||
|
|
mesh="tarsus_T1_3_left"/>
|
||
|
|
<geom name="tarsus3_T1_left_collision" class="collision" size="0.00149"
|
||
|
|
fromto="0 0 0 -0.000255 0.00909 0.0002"/>
|
||
|
|
<body name="tarsus4_T1_left" pos="-0.000255 0.00909 0.0002">
|
||
|
|
<joint name="tarsus4_T1_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus4_T1_left" pos="0.00827 -0.0485 -0.119" quat="0.373 0.231 0.468 -0.767"
|
||
|
|
mesh="tarsus_T1_4_left"/>
|
||
|
|
<geom name="tarsus4_T1_left_collision" class="collision" size="0.00148"
|
||
|
|
fromto="0 0 0 -7.12e-05 0.00906 -0.00081"/>
|
||
|
|
<body name="claw_T1_left" pos="-7.12e-05 0.00906 -0.00081">
|
||
|
|
<joint name="tarsus5_T1_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsal_claw_T1_left" material="brown" pos="0.00835 -0.0575 -0.118"
|
||
|
|
quat="-0.373 -0.231 -0.468 0.767" mesh="tarsal_claw_T1_left_brown"/>
|
||
|
|
<geom name="tarsal_claw_T1_left_collision" class="adhesion-collision" type="capsule"
|
||
|
|
size="0.00199" fromto="0 0 0 -7.12e-05 0.00906 -0.00081"/>
|
||
|
|
<site name="claw_T1_left" class="adhesion-collision" size="0.00219"
|
||
|
|
fromto="0 0 0 -7.12e-05 0.00906 -0.00081"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="coxa_T1_right" childclass="leg" pos="0.0317 -0.0209 -0.0272" quat="0.319 0.011 -0.543 -0.777">
|
||
|
|
<joint name="coxa_abduct_T1_right" class="abduct_coxa_T1"/>
|
||
|
|
<joint name="coxa_twist_T1_right" class="twist_coxa_T1"/>
|
||
|
|
<joint name="coxa_T1_right" class="extend_coxa_T1"/>
|
||
|
|
<geom name="coxa_T1_right" pos="-0.0104 -0.105 -0.00761" quat="-0.777 0.543 0.011 0.319" mesh="coxa_T1_right"/>
|
||
|
|
<geom name="coxa_T1_right_collision" class="collision" type="ellipsoid" size="0.00679 0.00752 0.0208"
|
||
|
|
pos="0.00061 -0.026 0.00153" quat="-0.508 0.628 0.447 0.385"/>
|
||
|
|
<body name="femur_T1_right" pos="0 -0.0436 0" quat="0 0 0.261 0.965">
|
||
|
|
<joint name="femur_twist_T1_right" class="twist_femur"/>
|
||
|
|
<joint name="femur_T1_right" class="extend_femur_T1"/>
|
||
|
|
<geom name="femur_T1_right" pos="0.0104 0.0492 -0.0376" quat="-0.31 0.0726 0.321 -0.892" mesh="femur_T1_right"/>
|
||
|
|
<geom name="femur_T1_right_collision" class="collision" size="0.005"
|
||
|
|
fromto="-0.00263 -0.00263 -0.00438 0 -0.0663 0"/>
|
||
|
|
<body name="tibia_T1_right" pos="0 -0.0698 0" quat="0.163 0.148 0.688 -0.692">
|
||
|
|
<joint name="tibia_T1_right" class="extend_tibia"/>
|
||
|
|
<geom name="tibia_T1_right" pos="0.00407 0.0384 -0.119" quat="-0.798 -0.45 -0.184 0.357"
|
||
|
|
mesh="tibia_T1_right"/>
|
||
|
|
<geom name="tibia_T1_right_collision" class="collision" size="0.00362" fromto="0 0 0 0 0.0515 -0.00175"/>
|
||
|
|
<body name="tarsus_T1_right" pos="0 0.0515 -0.00175" quat="-0.0745 -0.995 0.0133 0.0704">
|
||
|
|
<joint name="tarsus_T1_right" class="extend_tarsus_T1"/>
|
||
|
|
<geom name="tarsus_T1_right" pos="0.0207 -0.00479 0.116" quat="-0.529 0.778 0.299 0.16"
|
||
|
|
mesh="tarsus_T1_1_right"/>
|
||
|
|
<geom name="tarsus_T1_right_collision" class="collision" size="0.00204"
|
||
|
|
fromto="0 0 0 -0.000965 -0.0227 -0.00161"/>
|
||
|
|
<site name="tarsus_T1_right"/>
|
||
|
|
<body name="tarsus2_T1_right" pos="-0.000965 -0.0227 -0.00161">
|
||
|
|
<joint name="tarsus2_T1_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus2_T1_right" pos="0.0217 0.0179 0.118" quat="0.529 -0.778 -0.299 -0.16"
|
||
|
|
mesh="tarsus_T1_2_right"/>
|
||
|
|
<geom name="tarsus2_T1_right_collision" class="collision" size="0.00159"
|
||
|
|
fromto="0 0 0 0.000143 -0.0136 -0.00168"/>
|
||
|
|
<body name="tarsus3_T1_right" pos="0.000143 -0.0136 -0.00168">
|
||
|
|
<joint name="tarsus3_T1_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus3_T1_right" pos="0.0215 0.0316 0.12" quat="-0.529 0.778 0.299 0.16"
|
||
|
|
mesh="tarsus_T1_3_right"/>
|
||
|
|
<geom name="tarsus3_T1_right_collision" class="collision" size="0.00149"
|
||
|
|
fromto="0 0 0 0.000437 -0.00899 -0.00063"/>
|
||
|
|
<body name="tarsus4_T1_right" pos="0.000437 -0.00899 -0.00063">
|
||
|
|
<joint name="tarsus4_T1_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus4_T1_right" pos="0.0211 0.0405 0.12" quat="0.529 -0.778 -0.299 -0.16"
|
||
|
|
mesh="tarsus_T1_4_right"/>
|
||
|
|
<geom name="tarsus4_T1_right_collision" class="collision" size="0.00148"
|
||
|
|
fromto="0 0 0 0.000765 -0.00899 0.000134"/>
|
||
|
|
<body name="claw_T1_right" pos="0.000765 -0.00899 0.000134">
|
||
|
|
<joint name="tarsus5_T1_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsal_claw_T1_right" material="brown" pos="0.0203 0.0495 0.12"
|
||
|
|
quat="-0.529 0.778 0.299 0.16" mesh="tarsal_claw_T1_right_brown"/>
|
||
|
|
<geom name="tarsal_claw_T1_right_collision" class="adhesion-collision" type="capsule"
|
||
|
|
size="0.00199" fromto="0 0 0 0.000765 -0.00899 0.000134"/>
|
||
|
|
<site name="claw_T1_right" class="adhesion-collision" size="0.00219"
|
||
|
|
fromto="0 0 0 0.000765 -0.00899 0.000134"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="coxa_T2_left" childclass="leg" pos="-0.0144 0.0241 -0.0425" quat="-0.371 0.917 -0.126 -0.0722">
|
||
|
|
<joint name="coxa_abduct_T2_left" class="abduct_coxa_T2"/>
|
||
|
|
<joint name="coxa_twist_T2_left" class="twist_coxa_T2"/>
|
||
|
|
<joint name="coxa_T2_left" class="extend_coxa_T2"/>
|
||
|
|
<geom name="coxa_T2_left" pos="0.0287 0.0682 0.0404" quat="0.0722 -0.126 -0.917 0.371" mesh="coxa_T2_left"/>
|
||
|
|
<geom name="coxa_T2_left_collision" class="collision" type="ellipsoid" size="0.00788 0.007 0.0149"
|
||
|
|
pos="0.000349 0.0143 -0.00216" quat="0.707 -0.707 0 0"/>
|
||
|
|
<body name="femur_T2_left" pos="0 0.0281 0" quat="0 0 0.128 0.992">
|
||
|
|
<joint name="femur_twist_T2_left" class="twist_femur_T2"/>
|
||
|
|
<joint name="femur_T2_left" class="extend_femur_T2"/>
|
||
|
|
<geom name="femur_T2_left" pos="-0.0287 -0.0285 0.0493" quat="0.251 -0.957 0.116 -0.0879" mesh="femur_T2_left"/>
|
||
|
|
<geom name="femur_T2_left_collision" class="collision" size="0.00469" fromto="0 0.00263 0.00438 0 0.0789 0"/>
|
||
|
|
<body name="tibia_T2_left" pos="0 0.083 0" quat="0.107 0.0834 0.656 -0.742">
|
||
|
|
<joint name="tibia_T2_left" class="extend_tibia_T2"/>
|
||
|
|
<geom name="tibia_T2_left" pos="0.0202 -0.0418 0.116" quat="-0.0884 0.152 0.87 0.461" mesh="tibia_T2_left"/>
|
||
|
|
<geom name="tibia_T2_left_collision" class="collision" size="0.00352" fromto="0 0 0 0 -0.0668 0.00175"/>
|
||
|
|
<body name="tarsus_T2_left" pos="0 -0.0668 0.00175" quat="-0.148 0.978 -0.0216 -0.143">
|
||
|
|
<joint name="tarsus_T2_left" class="extend_tarsus_T2"/>
|
||
|
|
<geom name="tarsus_T2_left" pos="-0.0134 -0.0581 -0.103" quat="-0.0774 0.0502 -0.342 0.935"
|
||
|
|
mesh="tarsus_T2_1_left"/>
|
||
|
|
<geom name="tarsus_T2_left_collision" class="collision" size="0.00208"
|
||
|
|
fromto="0 0 0 0.000471 0.0342 0.00136"/>
|
||
|
|
<site name="tarsus_T2_left"/>
|
||
|
|
<body name="tarsus2_T2_left" pos="0.000471 0.0342 0.00136">
|
||
|
|
<joint name="tarsus2_T2_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus2_T2_left" pos="-0.0138 -0.0923 -0.104" quat="0.0774 -0.0502 0.342 -0.935"
|
||
|
|
mesh="tarsus_T2_2_left"/>
|
||
|
|
<geom name="tarsus2_T2_left_collision" class="collision" size="0.00162"
|
||
|
|
fromto="0 0 0 2.42e-05 0.0178 0.000203"/>
|
||
|
|
<body name="tarsus3_T2_left" pos="2.42e-05 0.0178 0.000203">
|
||
|
|
<joint name="tarsus3_T2_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus3_T2_left" pos="-0.0139 -0.11 -0.105" quat="-0.0774 0.0502 -0.342 0.935"
|
||
|
|
mesh="tarsus_T2_3_left"/>
|
||
|
|
<geom name="tarsus3_T2_left_collision" class="collision" size="0.00149"
|
||
|
|
fromto="0 0 0 -3.11e-05 0.00991 0.000292"/>
|
||
|
|
<body name="tarsus4_T2_left" pos="-3.11e-05 0.00991 0.000292">
|
||
|
|
<joint name="tarsus4_T2_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus4_T2_left" pos="-0.0138 -0.12 -0.105" quat="0.0774 -0.0502 0.342 -0.935"
|
||
|
|
mesh="tarsus_T2_4_left"/>
|
||
|
|
<geom name="tarsus4_T2_left_collision" class="collision" size="0.00146"
|
||
|
|
fromto="0 0 0 3.6e-05 0.00991 -0.000254"/>
|
||
|
|
<body name="claw_T2_left" pos="3.6e-05 0.00991 -0.000254">
|
||
|
|
<joint name="tarsus5_T2_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsal_claw_T2_left" material="brown" pos="-0.0139 -0.13 -0.105"
|
||
|
|
quat="-0.0774 0.0502 -0.342 0.935" mesh="tarsal_claw_T2_left_brown"/>
|
||
|
|
<geom name="tarsal_claw_T2_left_collision" class="adhesion-collision" type="capsule" size="0.002"
|
||
|
|
fromto="0 0 0 3.6e-05 0.00991 -0.000254"/>
|
||
|
|
<site name="claw_T2_left" class="adhesion-collision" size="0.0022"
|
||
|
|
fromto="0 0 0 3.6e-05 0.00991 -0.000254"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="coxa_T2_right" childclass="leg" pos="-0.0144 -0.0241 -0.0425" quat="0.126 -0.0709 -0.374 -0.916">
|
||
|
|
<joint name="coxa_abduct_T2_right" class="abduct_coxa_T2"/>
|
||
|
|
<joint name="coxa_twist_T2_right" class="twist_coxa_T2"/>
|
||
|
|
<joint name="coxa_T2_right" class="extend_coxa_T2"/>
|
||
|
|
<geom name="coxa_T2_right" pos="-0.0285 -0.0685 -0.0403" quat="-0.916 0.374 -0.0709 0.126" mesh="coxa_T2_right"/>
|
||
|
|
<geom name="coxa_T2_right_collision" class="collision" type="ellipsoid" size="0.00788 0.007 0.0149"
|
||
|
|
pos="-0.000335 -0.0143 0.00206" quat="0.707 0.707 0 0"/>
|
||
|
|
<body name="femur_T2_right" pos="0 -0.0282 0" quat="0 0 0.134 0.991">
|
||
|
|
<joint name="femur_twist_T2_right" class="twist_femur_T2"/>
|
||
|
|
<joint name="femur_T2_right" class="extend_femur_T2"/>
|
||
|
|
<geom name="femur_T2_right" pos="0.0285 0.0282 -0.0496" quat="-0.115 0.0871 0.247 -0.958"
|
||
|
|
mesh="femur_T2_right"/>
|
||
|
|
<geom name="femur_T2_right_collision" class="collision" size="0.00469"
|
||
|
|
fromto="0 -0.00263 -0.00438 0 -0.0798 0"/>
|
||
|
|
<body name="tibia_T2_right" pos="0 -0.084 0" quat="0.0902 0.103 0.659 -0.739">
|
||
|
|
<joint name="tibia_T2_right" class="extend_tibia_T2"/>
|
||
|
|
<geom name="tibia_T2_right" pos="-0.0138 0.0423 -0.118" quat="-0.87 -0.469 -0.064 0.139"
|
||
|
|
mesh="tibia_T2_right"/>
|
||
|
|
<geom name="tibia_T2_right_collision" class="collision" size="0.00353" fromto="0 0 0 0 0.0665 -0.00175"/>
|
||
|
|
<body name="tarsus_T2_right" pos="0 0.0665 -0.00175" quat="0.15 -0.982 0.0172 0.113">
|
||
|
|
<joint name="tarsus_T2_right" class="extend_tarsus_T2"/>
|
||
|
|
<geom name="tarsus_T2_right" pos="0.0128 0.0578 0.104" quat="-0.344 0.934 0.0789 -0.0479"
|
||
|
|
mesh="tarsus_T2_1_right"/>
|
||
|
|
<geom name="tarsus_T2_right_collision" class="collision" size="0.00208"
|
||
|
|
fromto="0 0 0 -0.000367 -0.0339 -0.00103"/>
|
||
|
|
<site name="tarsus_T2_right"/>
|
||
|
|
<body name="tarsus2_T2_right" pos="-0.000367 -0.0339 -0.00103">
|
||
|
|
<joint name="tarsus2_T2_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus2_T2_right" pos="0.0132 0.0917 0.105" quat="0.344 -0.934 -0.0788 0.0479"
|
||
|
|
mesh="tarsus_T2_2_right"/>
|
||
|
|
<geom name="tarsus2_T2_right_collision" class="collision" size="0.00162"
|
||
|
|
fromto="0 0 0 1.72e-05 -0.0177 -0.000553"/>
|
||
|
|
<body name="tarsus3_T2_right" pos="1.72e-05 -0.0177 -0.000553">
|
||
|
|
<joint name="tarsus3_T2_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus3_T2_right" pos="0.0132 0.109 0.105" quat="-0.344 0.934 0.0788 -0.0479"
|
||
|
|
mesh="tarsus_T2_3_right"/>
|
||
|
|
<geom name="tarsus3_T2_right_collision" class="collision" size="0.00149"
|
||
|
|
fromto="0 0 0 5.07e-05 -0.00988 -0.000293"/>
|
||
|
|
<body name="tarsus4_T2_right" pos="5.07e-05 -0.00988 -0.000293">
|
||
|
|
<joint name="tarsus4_T2_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus4_T2_right" pos="0.0132 0.119 0.106" quat="0.344 -0.934 -0.0788 0.0479"
|
||
|
|
mesh="tarsus_T2_4_right"/>
|
||
|
|
<geom name="tarsus4_T2_right_collision" class="collision" size="0.00146"
|
||
|
|
fromto="0 0 0 -9.66e-05 -0.00988 0.000252"/>
|
||
|
|
<body name="claw_T2_right" pos="-9.66e-05 -0.00988 0.000252">
|
||
|
|
<joint name="tarsus5_T2_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsal_claw_T2_right" material="brown" pos="0.0133 0.129 0.105"
|
||
|
|
quat="-0.344 0.934 0.0788 -0.0479" mesh="tarsal_claw_T2_right_brown"/>
|
||
|
|
<geom name="tarsal_claw_T2_right_collision" class="adhesion-collision" type="capsule" size="0.002"
|
||
|
|
fromto="0 0 0 -9.66e-05 -0.00988 0.000252"/>
|
||
|
|
<site name="claw_T2_right" class="adhesion-collision" size="0.0022"
|
||
|
|
fromto="0 0 0 -9.66e-05 -0.00988 0.000252"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="coxa_T3_left" childclass="leg" pos="-0.0377 0.0192 -0.0402" quat="0.681 -0.529 -0.0882 0.498">
|
||
|
|
<joint name="coxa_abduct_T3_left" class="abduct_coxa_T3"/>
|
||
|
|
<joint name="coxa_twist_T3_left" class="twist_coxa_T3"/>
|
||
|
|
<joint name="coxa_T3_left" class="extend_coxa_T3"/>
|
||
|
|
<geom name="coxa_T3_left" pos="0.0335 0.0507 -0.0666" quat="-0.498 -0.0882 0.529 -0.681" mesh="coxa_T3_left"/>
|
||
|
|
<geom name="coxa_T3_left_collision" class="collision" type="ellipsoid" size="0.007 0.00875 0.0166"
|
||
|
|
pos="-0.00348 0.0116 -0.00687" quat="0.603 -0.786 -0.135 0"/>
|
||
|
|
<body name="femur_T3_left" pos="-0.00398 0.0232 -0.00668" quat="0 0 -0.668 -0.744">
|
||
|
|
<joint name="femur_twist_T3_left" class="twist_femur_T3"/>
|
||
|
|
<joint name="femur_T3_left" class="extend_femur_T3"/>
|
||
|
|
<geom name="femur_T3_left" pos="-0.0375 -0.0625 0.0209" quat="0.153 -0.849 -0.398 -0.312" mesh="femur_T3_left"/>
|
||
|
|
<geom name="femur_T3_left_collision" class="collision" size="0.00544"
|
||
|
|
fromto="-0.00263 0.00263 0.00438 -0.00263 0.0766 1.52e-07"/>
|
||
|
|
<body name="tibia_T3_left" pos="0 0.0779 1.6e-07" quat="-0.117 -0.104 -0.711 0.685">
|
||
|
|
<joint name="tibia_T3_left" class="extend_tibia_T3"/>
|
||
|
|
<geom name="tibia_T3_left" pos="0.0309 -0.0369 0.139" quat="-0.14 0.379 -0.77 -0.494" mesh="tibia_T3_left"/>
|
||
|
|
<geom name="tibia_T3_left_collision" class="collision" size="0.00365"
|
||
|
|
fromto="0 -0.003 -0.005 0 -0.0715 0.00175"/>
|
||
|
|
<body name="tarsus_T3_left" pos="0 -0.0715 0.00175" quat="-0.23 0.963 -0.033 -0.138">
|
||
|
|
<joint name="tarsus_T3_left" class="extend_tarsus_T3"/>
|
||
|
|
<geom name="tarsus_T3_left" pos="-0.00888 -0.0941 -0.109" quat="-0.49 -0.138 0.251 -0.823"
|
||
|
|
mesh="tarsus_T3_1_left"/>
|
||
|
|
<geom name="tarsus_T3_left_collision" class="collision" size="0.00234"
|
||
|
|
fromto="0 0 0 0.00027 0.0337 0.00102"/>
|
||
|
|
<site name="tarsus_T3_left"/>
|
||
|
|
<body name="tarsus2_T3_left" pos="0.00027 0.0337 0.00102">
|
||
|
|
<joint name="tarsus2_T3_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus2_T3_left" pos="-0.00915 -0.128 -0.11" quat="0.49 0.138 -0.251 0.823"
|
||
|
|
mesh="tarsus_T3_2_left"/>
|
||
|
|
<geom name="tarsus2_T3_left_collision" class="collision" size="0.00168"
|
||
|
|
fromto="0 0 0 -7.97e-05 0.0197 0.00158"/>
|
||
|
|
<body name="tarsus3_T3_left" pos="-7.97e-05 0.0197 0.00158">
|
||
|
|
<joint name="tarsus3_T3_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus3_T3_left" pos="-0.00907 -0.148 -0.112" quat="-0.49 -0.138 0.251 -0.823"
|
||
|
|
mesh="tarsus_T3_3_left"/>
|
||
|
|
<geom name="tarsus3_T3_left_collision" class="collision" size="0.00145"
|
||
|
|
fromto="0 0 0 8e-05 0.0111 -2.78e-05"/>
|
||
|
|
<body name="tarsus4_T3_left" pos="8e-05 0.0111 -2.78e-05">
|
||
|
|
<joint name="tarsus4_T3_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus4_T3_left" pos="-0.00915 -0.159 -0.112" quat="0.49 0.138 -0.251 0.823"
|
||
|
|
mesh="tarsus_T3_4_left"/>
|
||
|
|
<geom name="tarsus4_T3_left_collision" class="collision" size="0.00145"
|
||
|
|
fromto="0 0 0 0.000222 0.0111 -0.00108"/>
|
||
|
|
<body name="claw_T3_left" pos="0.000222 0.0111 -0.00108">
|
||
|
|
<joint name="tarsus5_T3_left" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsal_claw_T3_left" material="brown" pos="-0.00937 -0.17 -0.111"
|
||
|
|
quat="-0.49 -0.138 0.251 -0.823" mesh="tarsal_claw_T3_left_brown"/>
|
||
|
|
<geom name="tarsal_claw_T3_left_collision" class="adhesion-collision" type="capsule" size="0.0019"
|
||
|
|
fromto="0 0 0 0.000222 0.0111 -0.00108"/>
|
||
|
|
<site name="claw_T3_left" class="adhesion-collision" size="0.00209"
|
||
|
|
fromto="0 0 0 0.000222 0.0111 -0.00108"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="coxa_T3_right" childclass="leg" pos="-0.0377 -0.0192 -0.0402" quat="-0.0854 -0.505 -0.673 -0.534">
|
||
|
|
<joint name="coxa_abduct_T3_right" class="abduct_coxa_T3"/>
|
||
|
|
<joint name="coxa_twist_T3_right" class="twist_coxa_T3"/>
|
||
|
|
<joint name="coxa_T3_right" class="extend_coxa_T3"/>
|
||
|
|
<geom name="coxa_T3_right" pos="-0.0344 -0.0507 0.0661" quat="0.534 -0.673 0.505 0.0854" mesh="coxa_T3_right"/>
|
||
|
|
<geom name="coxa_T3_right_collision" class="collision" type="ellipsoid" size="0.007 0.00875 0.0166"
|
||
|
|
pos="0.00338 -0.0117 0.00678" quat="0.797 0.596 0.0983 0"/>
|
||
|
|
<body name="femur_T3_right" pos="0.00383 -0.0232 0.0066" quat="0 0 0.661 0.751">
|
||
|
|
<joint name="femur_twist_T3_right" class="twist_femur_T3"/>
|
||
|
|
<joint name="femur_T3_right" class="extend_femur_T3"/>
|
||
|
|
<geom name="femur_T3_right" pos="0.0382 0.0625 -0.0196" quat="-0.398 -0.322 -0.152 0.846"
|
||
|
|
mesh="femur_T3_right"/>
|
||
|
|
<geom name="femur_T3_right_collision" class="collision" size="0.00544"
|
||
|
|
fromto="0.00263 -0.00263 -0.00438 0.00263 -0.0758 1.87e-07"/>
|
||
|
|
<body name="tibia_T3_right" pos="0 -0.077 1.96e-07" quat="-0.121 -0.111 -0.708 0.686">
|
||
|
|
<joint name="tibia_T3_right" class="extend_tibia_T3"/>
|
||
|
|
<geom name="tibia_T3_right" pos="-0.0309 0.0355 -0.138" quat="-0.772 -0.489 0.136 -0.382"
|
||
|
|
mesh="tibia_T3_right"/>
|
||
|
|
<geom name="tibia_T3_right_collision" class="collision" size="0.00365"
|
||
|
|
fromto="0 0.003 0.005 0 0.0721 -0.00175"/>
|
||
|
|
<body name="tarsus_T3_right" pos="0 0.0721 -0.00175" quat="0.223 -0.965 0.0313 0.136">
|
||
|
|
<joint name="tarsus_T3_right" class="extend_tarsus_T3"/>
|
||
|
|
<geom name="tarsus_T3_right" pos="0.00797 0.0941 0.109" quat="-0.252 0.823 -0.49 -0.136"
|
||
|
|
mesh="tarsus_T3_1_right"/>
|
||
|
|
<geom name="tarsus_T3_right_collision" class="collision" size="0.00234"
|
||
|
|
fromto="0 0 0 -0.00073 -0.0338 -0.00122"/>
|
||
|
|
<site name="tarsus_T3_right"/>
|
||
|
|
<body name="tarsus2_T3_right" pos="-0.00073 -0.0338 -0.00122">
|
||
|
|
<joint name="tarsus2_T3_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus2_T3_right" pos="0.0087 0.128 0.111" quat="0.252 -0.823 0.49 0.136"
|
||
|
|
mesh="tarsus_T3_2_right"/>
|
||
|
|
<geom name="tarsus2_T3_right_collision" class="collision" size="0.00168"
|
||
|
|
fromto="0 0 0 0.000185 -0.0197 -0.00157"/>
|
||
|
|
<body name="tarsus3_T3_right" pos="0.000185 -0.0197 -0.00157">
|
||
|
|
<joint name="tarsus3_T3_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus3_T3_right" pos="0.00851 0.148 0.112" quat="-0.252 0.823 -0.49 -0.136"
|
||
|
|
mesh="tarsus_T3_3_right"/>
|
||
|
|
<geom name="tarsus3_T3_right_collision" class="collision" size="0.00145"
|
||
|
|
fromto="0 0 0 1.98e-05 -0.011 1.95e-05"/>
|
||
|
|
<body name="tarsus4_T3_right" pos="1.98e-05 -0.011 1.95e-05">
|
||
|
|
<joint name="tarsus4_T3_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsus4_T3_right" pos="0.00849 0.159 0.112" quat="0.252 -0.823 0.49 0.136"
|
||
|
|
mesh="tarsus_T3_4_right"/>
|
||
|
|
<geom name="tarsus4_T3_right_collision" class="collision" size="0.00145"
|
||
|
|
fromto="0 0 0 4.3e-05 -0.011 0.00125"/>
|
||
|
|
<body name="claw_T3_right" pos="4.3e-05 -0.011 0.00125">
|
||
|
|
<joint name="tarsus5_T3_right" class="extend_tarsus"/>
|
||
|
|
<geom name="tarsal_claw_T3_right" material="brown" pos="0.00845 0.17 0.111"
|
||
|
|
quat="-0.252 0.823 -0.49 -0.136" mesh="tarsal_claw_T3_right_brown"/>
|
||
|
|
<geom name="tarsal_claw_T3_right_collision" class="adhesion-collision" type="capsule"
|
||
|
|
size="0.0019" fromto="0 0 0 4.3e-05 -0.011 0.00125"/>
|
||
|
|
<site name="claw_T3_right" class="adhesion-collision" size="0.00209"
|
||
|
|
fromto="0 0 0 4.3e-05 -0.011 0.00125"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</worldbody>
|
||
|
|
|
||
|
|
<contact>
|
||
|
|
<exclude name="abdomen_abdomen_3" body1="abdomen" body2="abdomen_3"/>
|
||
|
|
<exclude name="abdomen_2_abdomen_4" body1="abdomen_2" body2="abdomen_4"/>
|
||
|
|
<exclude name="abdomen_3_abdomen_5" body1="abdomen_3" body2="abdomen_5"/>
|
||
|
|
<exclude name="abdomen_4_abdomen_6" body1="abdomen_4" body2="abdomen_6"/>
|
||
|
|
<exclude name="abdomen_5_abdomen_7" body1="abdomen_5" body2="abdomen_7"/>
|
||
|
|
<exclude name="wing_left_abdomen" body1="wing_left" body2="abdomen"/>
|
||
|
|
<exclude name="wing_left_abdomen_2" body1="wing_left" body2="abdomen_2"/>
|
||
|
|
<exclude name="wing_left_abdomen_3" body1="wing_left" body2="abdomen_3"/>
|
||
|
|
<exclude name="wing_right_abdomen" body1="wing_right" body2="abdomen"/>
|
||
|
|
<exclude name="wing_right_abdomen_2" body1="wing_right" body2="abdomen_2"/>
|
||
|
|
<exclude name="wing_right_abdomen_3" body1="wing_right" body2="abdomen_3"/>
|
||
|
|
<exclude name="wing_left_wing_right" body1="wing_left" body2="wing_right"/>
|
||
|
|
<exclude name="coxa_T1_left_coxa_T1_right" body1="coxa_T1_left" body2="coxa_T1_right"/>
|
||
|
|
<exclude name="coxa_T1_left_femur_T1_right" body1="coxa_T1_left" body2="femur_T1_right"/>
|
||
|
|
<exclude name="femur_T1_left_coxa_T1_right" body1="femur_T1_left" body2="coxa_T1_right"/>
|
||
|
|
<exclude name="femur_T1_left_femur_T1_right" body1="femur_T1_left" body2="femur_T1_right"/>
|
||
|
|
<exclude name="coxa_T2_left_coxa_T2_right" body1="coxa_T2_left" body2="coxa_T2_right"/>
|
||
|
|
<exclude name="coxa_T2_left_femur_T2_right" body1="coxa_T2_left" body2="femur_T2_right"/>
|
||
|
|
<exclude name="femur_T2_left_coxa_T2_right" body1="femur_T2_left" body2="coxa_T2_right"/>
|
||
|
|
<exclude name="femur_T2_left_femur_T2_right" body1="femur_T2_left" body2="femur_T2_right"/>
|
||
|
|
<exclude name="coxa_T3_left_coxa_T3_right" body1="coxa_T3_left" body2="coxa_T3_right"/>
|
||
|
|
<exclude name="coxa_T3_left_femur_T3_right" body1="coxa_T3_left" body2="femur_T3_right"/>
|
||
|
|
<exclude name="femur_T3_left_coxa_T3_right" body1="femur_T3_left" body2="coxa_T3_right"/>
|
||
|
|
<exclude name="femur_T3_left_femur_T3_right" body1="femur_T3_left" body2="femur_T3_right"/>
|
||
|
|
<exclude name="rostrum_labrum_left" body1="rostrum" body2="labrum_left"/>
|
||
|
|
<exclude name="rostrum_labrum_right" body1="rostrum" body2="labrum_right"/>
|
||
|
|
</contact>
|
||
|
|
|
||
|
|
<tendon>
|
||
|
|
<fixed name="abduct_abdomen">
|
||
|
|
<joint joint="abdomen_abduct" coef="1"/>
|
||
|
|
<joint joint="abdomen_abduct_2" coef="1"/>
|
||
|
|
<joint joint="abdomen_abduct_3" coef="1"/>
|
||
|
|
<joint joint="abdomen_abduct_4" coef="1"/>
|
||
|
|
<joint joint="abdomen_abduct_5" coef="1"/>
|
||
|
|
<joint joint="abdomen_abduct_6" coef="1"/>
|
||
|
|
<joint joint="abdomen_abduct_7" coef="1"/>
|
||
|
|
</fixed>
|
||
|
|
<fixed name="abdomen">
|
||
|
|
<joint joint="abdomen" coef="1"/>
|
||
|
|
<joint joint="abdomen_2" coef="1"/>
|
||
|
|
<joint joint="abdomen_3" coef="1"/>
|
||
|
|
<joint joint="abdomen_4" coef="1"/>
|
||
|
|
<joint joint="abdomen_5" coef="1"/>
|
||
|
|
<joint joint="abdomen_6" coef="1"/>
|
||
|
|
<joint joint="abdomen_7" coef="1"/>
|
||
|
|
</fixed>
|
||
|
|
<fixed name="tarsus2_T1_left" class="extend_tarsus">
|
||
|
|
<joint joint="tarsus2_T1_left" coef="1"/>
|
||
|
|
<joint joint="tarsus3_T1_left" coef="0.5"/>
|
||
|
|
<joint joint="tarsus4_T1_left" coef="0.5"/>
|
||
|
|
<joint joint="tarsus5_T1_left" coef="0.5"/>
|
||
|
|
</fixed>
|
||
|
|
<fixed name="tarsus2_T1_right" class="extend_tarsus">
|
||
|
|
<joint joint="tarsus2_T1_right" coef="1"/>
|
||
|
|
<joint joint="tarsus3_T1_right" coef="0.5"/>
|
||
|
|
<joint joint="tarsus4_T1_right" coef="0.5"/>
|
||
|
|
<joint joint="tarsus5_T1_right" coef="0.5"/>
|
||
|
|
</fixed>
|
||
|
|
<fixed name="tarsus2_T2_left" class="extend_tarsus">
|
||
|
|
<joint joint="tarsus2_T2_left" coef="1"/>
|
||
|
|
<joint joint="tarsus3_T2_left" coef="0.5"/>
|
||
|
|
<joint joint="tarsus4_T2_left" coef="0.5"/>
|
||
|
|
<joint joint="tarsus5_T2_left" coef="0.5"/>
|
||
|
|
</fixed>
|
||
|
|
<fixed name="tarsus2_T2_right" class="extend_tarsus">
|
||
|
|
<joint joint="tarsus2_T2_right" coef="1"/>
|
||
|
|
<joint joint="tarsus3_T2_right" coef="0.5"/>
|
||
|
|
<joint joint="tarsus4_T2_right" coef="0.5"/>
|
||
|
|
<joint joint="tarsus5_T2_right" coef="0.5"/>
|
||
|
|
</fixed>
|
||
|
|
<fixed name="tarsus2_T3_left" class="extend_tarsus">
|
||
|
|
<joint joint="tarsus2_T3_left" coef="1"/>
|
||
|
|
<joint joint="tarsus3_T3_left" coef="0.5"/>
|
||
|
|
<joint joint="tarsus4_T3_left" coef="0.5"/>
|
||
|
|
<joint joint="tarsus5_T3_left" coef="0.5"/>
|
||
|
|
</fixed>
|
||
|
|
<fixed name="tarsus2_T3_right" class="extend_tarsus">
|
||
|
|
<joint joint="tarsus2_T3_right" coef="1"/>
|
||
|
|
<joint joint="tarsus3_T3_right" coef="0.5"/>
|
||
|
|
<joint joint="tarsus4_T3_right" coef="0.5"/>
|
||
|
|
<joint joint="tarsus5_T3_right" coef="0.5"/>
|
||
|
|
</fixed>
|
||
|
|
</tendon>
|
||
|
|
|
||
|
|
<actuator>
|
||
|
|
<general name="head_abduct" class="head" ctrlrange="-0.2 0.2" joint="head_abduct"/>
|
||
|
|
<general name="head_twist" class="head" ctrlrange="-3 3" joint="head_twist"/>
|
||
|
|
<general name="head" class="head" ctrlrange="-0.5 0.3" joint="head"/>
|
||
|
|
<general name="rostrum" class="head" ctrlrange="-1.24 0.183" joint="rostrum"/>
|
||
|
|
<general name="haustellum_abduct" class="head" ctrlrange="-0.0873 0.0873" joint="haustellum_abduct"/>
|
||
|
|
<general name="haustellum" class="head" ctrlrange="-1.59 0.7" joint="haustellum"/>
|
||
|
|
<general name="labrum_left" class="labrum" ctrlrange="-0.00524 1.05" joint="labrum_left"/>
|
||
|
|
<general name="labrum_right" class="labrum" ctrlrange="-0.00524 1.05" joint="labrum_right"/>
|
||
|
|
<general name="antenna_abduct_left" class="antenna_abduct" ctrlrange="-0.4 0.8" joint="antenna_abduct_left"/>
|
||
|
|
<general name="antenna_twist_left" class="antenna_twist" ctrlrange="-0.1 0.09" joint="antenna_twist_left"/>
|
||
|
|
<general name="antenna_left" class="antenna_extend" ctrlrange="-0.2 0.5" joint="antenna_left"/>
|
||
|
|
<general name="antenna_abduct_right" class="antenna_abduct" ctrlrange="-0.4 0.8" joint="antenna_abduct_right"/>
|
||
|
|
<general name="antenna_twist_right" class="antenna_twist" ctrlrange="-0.1 0.09" joint="antenna_twist_right"/>
|
||
|
|
<general name="antenna_right" class="antenna_extend" ctrlrange="-0.2 0.5" joint="antenna_right"/>
|
||
|
|
<general name="wing_yaw_left" class="yaw" joint="wing_yaw_left"/>
|
||
|
|
<general name="wing_roll_left" class="roll" joint="wing_roll_left"/>
|
||
|
|
<general name="wing_pitch_left" class="pitch" joint="wing_pitch_left"/>
|
||
|
|
<general name="wing_yaw_right" class="yaw" joint="wing_yaw_right"/>
|
||
|
|
<general name="wing_roll_right" class="roll" joint="wing_roll_right"/>
|
||
|
|
<general name="wing_pitch_right" class="pitch" joint="wing_pitch_right"/>
|
||
|
|
<general name="abdomen_abduct" class="abduct_abdomen" ctrlrange="-0.7 0.7" tendon="abduct_abdomen"/>
|
||
|
|
<general name="abdomen" class="extend_abdomen" ctrlrange="-1.05 0.7" tendon="abdomen"/>
|
||
|
|
<general name="coxa_abduct_T1_left" class="abduct_coxa_T1" joint="coxa_abduct_T1_left"/>
|
||
|
|
<general name="coxa_twist_T1_left" class="twist_coxa_T1" joint="coxa_twist_T1_left"/>
|
||
|
|
<general name="coxa_T1_left" class="extend_coxa_T1" joint="coxa_T1_left"/>
|
||
|
|
<general name="femur_twist_T1_left" class="twist_femur" joint="femur_twist_T1_left"/>
|
||
|
|
<general name="femur_T1_left" class="extend_femur_T1" joint="femur_T1_left"/>
|
||
|
|
<general name="tibia_T1_left" class="extend_tibia" joint="tibia_T1_left"/>
|
||
|
|
<general name="tarsus_T1_left" class="extend_tarsus_T1" joint="tarsus_T1_left"/>
|
||
|
|
<general name="tarsus2_T1_left" class="extend_tarsus" ctrlrange="-0.9 0.9" tendon="tarsus2_T1_left"/>
|
||
|
|
<general name="coxa_abduct_T1_right" class="abduct_coxa_T1" joint="coxa_abduct_T1_right"/>
|
||
|
|
<general name="coxa_twist_T1_right" class="twist_coxa_T1" joint="coxa_twist_T1_right"/>
|
||
|
|
<general name="coxa_T1_right" class="extend_coxa_T1" joint="coxa_T1_right"/>
|
||
|
|
<general name="femur_twist_T1_right" class="twist_femur" joint="femur_twist_T1_right"/>
|
||
|
|
<general name="femur_T1_right" class="extend_femur_T1" joint="femur_T1_right"/>
|
||
|
|
<general name="tibia_T1_right" class="extend_tibia" joint="tibia_T1_right"/>
|
||
|
|
<general name="tarsus_T1_right" class="extend_tarsus_T1" joint="tarsus_T1_right"/>
|
||
|
|
<general name="tarsus2_T1_right" class="extend_tarsus" ctrlrange="-0.9 0.9" tendon="tarsus2_T1_right"/>
|
||
|
|
<general name="coxa_abduct_T2_left" class="abduct_coxa_T2" joint="coxa_abduct_T2_left"/>
|
||
|
|
<general name="coxa_twist_T2_left" class="twist_coxa_T2" joint="coxa_twist_T2_left"/>
|
||
|
|
<general name="coxa_T2_left" class="extend_coxa_T2" joint="coxa_T2_left"/>
|
||
|
|
<general name="femur_twist_T2_left" class="twist_femur_T2" joint="femur_twist_T2_left"/>
|
||
|
|
<general name="femur_T2_left" class="extend_femur_T2" joint="femur_T2_left"/>
|
||
|
|
<general name="tibia_T2_left" class="extend_tibia_T2" joint="tibia_T2_left"/>
|
||
|
|
<general name="tarsus_T2_left" class="extend_tarsus_T2" joint="tarsus_T2_left"/>
|
||
|
|
<general name="tarsus2_T2_left" class="extend_tarsus" ctrlrange="-0.9 0.9" tendon="tarsus2_T2_left"/>
|
||
|
|
<general name="coxa_abduct_T2_right" class="abduct_coxa_T2" joint="coxa_abduct_T2_right"/>
|
||
|
|
<general name="coxa_twist_T2_right" class="twist_coxa_T2" joint="coxa_twist_T2_right"/>
|
||
|
|
<general name="coxa_T2_right" class="extend_coxa_T2" joint="coxa_T2_right"/>
|
||
|
|
<general name="femur_twist_T2_right" class="twist_femur_T2" joint="femur_twist_T2_right"/>
|
||
|
|
<general name="femur_T2_right" class="extend_femur_T2" joint="femur_T2_right"/>
|
||
|
|
<general name="tibia_T2_right" class="extend_tibia_T2" joint="tibia_T2_right"/>
|
||
|
|
<general name="tarsus_T2_right" class="extend_tarsus_T2" joint="tarsus_T2_right"/>
|
||
|
|
<general name="tarsus2_T2_right" class="extend_tarsus" ctrlrange="-0.9 0.9" tendon="tarsus2_T2_right"/>
|
||
|
|
<general name="coxa_abduct_T3_left" class="abduct_coxa_T3" joint="coxa_abduct_T3_left"/>
|
||
|
|
<general name="coxa_twist_T3_left" class="twist_coxa_T3" joint="coxa_twist_T3_left"/>
|
||
|
|
<general name="coxa_T3_left" class="extend_coxa_T3" joint="coxa_T3_left"/>
|
||
|
|
<general name="femur_twist_T3_left" class="twist_femur_T3" joint="femur_twist_T3_left"/>
|
||
|
|
<general name="femur_T3_left" class="extend_femur_T3" joint="femur_T3_left"/>
|
||
|
|
<general name="tibia_T3_left" class="extend_tibia_T3" joint="tibia_T3_left"/>
|
||
|
|
<general name="tarsus_T3_left" class="extend_tarsus_T3" joint="tarsus_T3_left"/>
|
||
|
|
<general name="tarsus2_T3_left" class="extend_tarsus" ctrlrange="-0.9 0.9" tendon="tarsus2_T3_left"/>
|
||
|
|
<general name="coxa_abduct_T3_right" class="abduct_coxa_T3" joint="coxa_abduct_T3_right"/>
|
||
|
|
<general name="coxa_twist_T3_right" class="twist_coxa_T3" joint="coxa_twist_T3_right"/>
|
||
|
|
<general name="coxa_T3_right" class="extend_coxa_T3" joint="coxa_T3_right"/>
|
||
|
|
<general name="femur_twist_T3_right" class="twist_femur_T3" joint="femur_twist_T3_right"/>
|
||
|
|
<general name="femur_T3_right" class="extend_femur_T3" joint="femur_T3_right"/>
|
||
|
|
<general name="tibia_T3_right" class="extend_tibia_T3" joint="tibia_T3_right"/>
|
||
|
|
<general name="tarsus_T3_right" class="extend_tarsus_T3" joint="tarsus_T3_right"/>
|
||
|
|
<general name="tarsus2_T3_right" class="extend_tarsus" ctrlrange="-0.9 0.9" tendon="tarsus2_T3_right"/>
|
||
|
|
<adhesion name="adhere_labrum_left" class="adhesion_labrum" body="labrum_left"/>
|
||
|
|
<adhesion name="adhere_labrum_right" class="adhesion_labrum" body="labrum_right"/>
|
||
|
|
<adhesion name="adhere_claw_T1_left" class="adhesion_claw" body="claw_T1_left"/>
|
||
|
|
<adhesion name="adhere_claw_T1_right" class="adhesion_claw" body="claw_T1_right"/>
|
||
|
|
<adhesion name="adhere_claw_T2_left" class="adhesion_claw" body="claw_T2_left"/>
|
||
|
|
<adhesion name="adhere_claw_T2_right" class="adhesion_claw" body="claw_T2_right"/>
|
||
|
|
<adhesion name="adhere_claw_T3_left" class="adhesion_claw" body="claw_T3_left"/>
|
||
|
|
<adhesion name="adhere_claw_T3_right" class="adhesion_claw" body="claw_T3_right"/>
|
||
|
|
</actuator>
|
||
|
|
|
||
|
|
<sensor>
|
||
|
|
<accelerometer name="accelerometer" site="thorax"/>
|
||
|
|
<gyro name="gyro" site="thorax"/>
|
||
|
|
<velocimeter name="velocimeter" site="thorax"/>
|
||
|
|
<force name="force_tarsus_T1_left" site="tarsus_T1_left"/>
|
||
|
|
<force name="force_tarsus_T1_right" site="tarsus_T1_right"/>
|
||
|
|
<force name="force_tarsus_T2_left" site="tarsus_T2_left"/>
|
||
|
|
<force name="force_tarsus_T2_right" site="tarsus_T2_right"/>
|
||
|
|
<force name="force_tarsus_T3_left" site="tarsus_T3_left"/>
|
||
|
|
<force name="force_tarsus_T3_right" site="tarsus_T3_right"/>
|
||
|
|
<touch name="touch_claw_T1_left" site="claw_T1_left"/>
|
||
|
|
<touch name="touch_claw_T1_right" site="claw_T1_right"/>
|
||
|
|
<touch name="touch_claw_T2_left" site="claw_T2_left"/>
|
||
|
|
<touch name="touch_claw_T2_right" site="claw_T2_right"/>
|
||
|
|
<touch name="touch_claw_T3_left" site="claw_T3_left"/>
|
||
|
|
<touch name="touch_claw_T3_right" site="claw_T3_right"/>
|
||
|
|
</sensor>
|
||
|
|
</mujoco>
|