Loading files
This file is pinned to the selected release. Download the original to open it in your design tool.
48bcdf22cThis file is pinned to the selected release. Download the original to open it in your design tool.
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Poncho">
<include file="mannequin.xml"/>
<option timestep="0.01" integrator="implicitfast" viscosity=".3" solver="CG" tolerance="1e-6">
<flag energy="enable"/>
</option>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<global offwidth="800" offheight="800"/>
</visual>
<default>
<geom solref="0.003 1"/>
</default>
<worldbody>
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1"/>
<flexcomp name="f1" type="direct" rgba=".8 .2 .2 1" radius="0.02" dim="2" pos="0 0 2"
mass="1"
point="0 0 0
-1 1 0
-0.875 1 0
-0.833333333333 0.91666666513 0
-1 0.875 0
-0.916666667179 0.833333331284 0
-0.812500001409 0.81249999936 0
-0.750000001537 0.749999999488 0
-0.75 1 0
-0.718750000576 0.906249998143 0
-1 0.75 0
-0.906250000192 0.718749998527 0
-0.833333333333 0.666666665642 0
-0.734187703053 0.642350849083 0
-0.666666667691 0.833333331284 0
-0.612946163782 0.7237083968 0
-0.625 1 0
-0.583333333846 0.91666666513 0
-0.616996739355 0.622692032086 0
-0.719104332867 0.539663811624 0
-1 0.625 0
-0.916666667179 0.583333331797 0
-0.80969723436 0.526920937586 0
-0.532291254804 0.804324341663 0
-0.506101050606 0.604081197552 0
-0.484329717592 0.699035373329 0
-0.5 1 0
-0.446144899117 0.890322007975 0
-0.620892626346 0.525533370884 0
-0.704717288729 0.441717328263 0
-0.527201429221 0.512053329881 0
-0.442916397325 0.477752897868 0
-1 0.5 0
-0.890323749548 0.446145751463 0
-0.787495191849 0.395653921455 0
-0.406068846868 0.777075424862 0
-0.423568119224 0.58129737124 0
-0.363412129379 0.675839255169 0
-0.375 1 0
-0.336444644664 0.890322007975 0
-0.35276170024 0.535166987623 0
-0.690990727014 0.348267404594 0
-0.609096078117 0.430160367238 0
-0.5236950543 0.43016304926 0
-0.440517550279 0.399063026439 0
-0.374727431754 0.371856753595 0
-0.363128922938 0.445282783495 0
-1 0.375 0
-0.890323749548 0.33644525319 0
-0.787495191849 0.300297692232 0
-0.690990727014 0.266373255631 0
-0.300296553038 0.787491944327 0
-0.303687113341 0.600201238785 0
-0.266371665677 0.690986198924 0
-0.25 1 0
-0.224516377155 0.879814277198 0
-0.285740295598 0.4915025426 0
-0.600206817966 0.303689848635 0
-0.600206817966 0.234459778792 0
-0.520322583821 0.351400089126 0
-0.425534543884 0.311282357957 0
-0.31197059286 0.345904837591 0
-0.250355013041 0.407523490775 0
-1 0.25 0
-0.879814279247 0.224516375106 0
-0.767648116935 0.200733182859 0
-0.66294014972 0.178531392364 0
-0.200733184908 0.767648114886 0
-0.234457820034 0.600201238785 0
-0.178531394413 0.662940147671 0
-0.125 1 0
-0.108234201193 0.881968771277 0
-0.204599258215 0.515262924335 0
-0.176457340528 0.43520793201 0
-0.565601594248 0.15789217619 0
-0.515269609927 0.261983194167 0
-0.324206662946 0.258601640871 0
-0.435201750449 0.222667533273 0
-0.247102940592 0.299133860319 0
-0.271861512188 0.221080658884 0
-0.185877358435 0.360277137775 0
-1 0.125 0
-0.88197058866 0.108234457307 0
-0.771816855177 0.0925876205718 0
-0.662935359369 0.100549863838 0
-0.108145563312 0.767648114886 0
-0.157892178239 0.5656015922 0
-0.100550214202 0.662940147671 0
0 1 0
-1.02445474326e-09 0.771816853128 0
-1.02445474326e-09 0.881970586611 0
-0.1205911549 0.389682708205 0
-0.0868810916197 0.474500354169 0
-0.523096782922 0.0704802950569 0
-0.474500356218 0.138575492276 0
-0.360272421185 0.185875041118 0
-0.290000784015 0.151369611594 0
-0.186173128789 0.255202155519 0
-0.222463263127 0.16894673637 0
-0.125413489179 0.290004062271 0
-1 0 0
-0.88197058866 -1.02445474326e-09 0
-0.771816855177 -1.02445474326e-09 0
-0.668987502501 -1.02445474326e-09 0
-0.573395345428 -1.02445474326e-09 0
-1.02445474326e-09 0.668987500452 0
-0.0644018930983 0.573389319585 0
0.125 1 0
0.108234199144 0.881968771277 0
0.092587139078 0.771813468329 0
0.25 1 0
-0.0749939754372 0.310626958879 0
-0.0398633436671 0.400637927 0
-1.02445474326e-09 0.483928598449 0
-0.389688025126 0.0807289371087 0
-0.483928600497 -1.02445474326e-09 0
-0.45466396227 0.0757373956737 0
-0.310630663308 0.0749942417955 0
-0.236872738727 0.0881900334621 0
-0.118970424327 0.224018586356 0
-0.129616886777 0.120978572984 0
-0.157006743976 0.185982266707 0
-0.0696439608649 0.236872736678 0
-1 -0.125 0
-0.881968773326 -0.108234201193 0
-0.771813470378 -0.0925871411269 0
-0.662935359369 -0.100549865887 0
-0.565595459813 -0.0934889851077 0
-0.474739199667 -0.086898415151 0
-1 -0.25 0
0.100550212153 0.662940147671 0
0.0644018910494 0.573389319585 0
0.375 1 0
0.5 1 0
0.224516375106 0.879814277198 0
0.200733182859 0.767648114886 0
0.178531392364 0.662940147671 0
0.336444642615 0.890322007975 0
0.0398633416182 0.400637927 0
-0.0185463953005 0.250566612138 0
-1.02445474326e-09 0.322995335258 0
0.0868810895708 0.474500354169 0
0.11924415661 0.416042609248 0
-0.322995337307 -1.02445474326e-09 0
-0.400637929049 -0.0398633436671 0
-0.243719676457 0.0348218190808 0
-0.250566614187 -0.0185463953005 0
-0.168124336813 0.0646570581614 0
-0.103923048454 0.06 0
-0.06 0.103923048454 0
-0.0646569823517 0.168123257037 0
0.00895588352248 0.183049418482 0
-0.87981243113 -0.224515985813 0
-0.767644670669 -0.200732455496 0
-0.662935359369 -0.178530378154 0
-0.389688025126 -0.1205922818 0
-0.540429204368 -0.177734444363 0
-0.454973566863 -0.154784494503 0
-1 -0.375 0
-0.890323749548 -0.336445255239 0
0.15789217619 0.5656015922 0
0.451521756455 0.884947740459 0
0.75 1 0
0.625 1 0
0.583333331797 0.91666666513 0
0.300296550989 0.787491944327 0
0.234457817985 0.600201238785 0
0.266371663628 0.690986198924 0
0.395653921455 0.7874951898 0
0.0749939733883 0.310626958879 0
0.069643958816 0.236872736678 0
0.176457338479 0.43520793201 0
0.150116744312 0.360277137775 0
-0.310630663308 -0.0749942438444 0
-0.183049420531 -0.00895588557139 0
-0.236875017115 -0.0696441268266 0
-0.12 6.79864667718e-17 0
7.34788079488e-18 0.12 0
0.0804343079966 0.162052298768 0
-0.787495191849 -0.300297694281 0
-0.690990727014 -0.26637325768 0
-0.600206817966 -0.234459780841 0
-0.515262926384 -0.261979915911 0
-0.360277139824 -0.185877358435 0
-0.29000406432 -0.151371224086 0
-0.435207934058 -0.222670571807 0
-1 -0.5 0
-0.787491946376 -0.395652327403 0
-0.890322010024 -0.446144899117 0
1 1 0
0.261983194167 0.515269607879 0
0.875 1 0
0.833333331284 0.91666666513 0
0.594506861916 0.828334436313 0
0.509090102472 0.775491920929 0
0.699999997951 0.849999998463 0
0.363414127066 0.675844002493 0
0.323286530397 0.580610132106 0
0.484338339404 0.699040026403 0
0.157005826064 0.185980094863 0
0.118969406019 0.224016514909 0
0.12541348713 0.290004062271 0
0.250352277747 0.407517003927 0
0.217232599591 0.328914860663 0
-0.224018588405 -0.118970424327 0
-0.168124336813 -0.0736129447572 0
-0.103923048454 -0.06 0
0.06 0.103923048454 0
0.121243302358 0.125297729881 0
-0.690986200972 -0.348265183576 0
-0.600201240834 -0.303687113341 0
-0.520318504442 -0.351398001287 0
-0.457882268688 -0.319360573608 0
-0.238088598603 -0.203286691851 0
-0.372952791185 -0.247076480973 0
-0.312596323725 -0.233558176582 0
-0.386166943131 -0.310875530551 0
-0.704714623098 -0.441720926149 0
-1 -0.625 0
-0.916666667179 -0.583333333846 0
-0.782873769554 -0.553798958709 0
1 0.875 0
0.319207167643 0.457821483685 0
0.91666666513 0.833333333333 0
0.81249999936 0.81249999936 0
0.612962307141 0.723713039629 0
0.749999999488 0.749999999488 0
0.445307145031 0.593949296227 0
0.392515206982 0.511379375878 0
0.574917894299 0.633609854182 0
0.538696836902 0.547825044997 0
0.190512205186 0.144098776993 0
0.230228993418 0.181682351121 0
0.186171678161 0.255198715399 0
0.337270521221 0.359765701238 0
0.264914112319 0.281235691888 0
-0.157006743976 -0.185982268756 0
-0.129616886777 -0.120978575033 0
-0.06 -0.103923048454 0
0.162052298768 0.0885431609941 0
0.103923048454 0.06 0
-0.466027375093 -0.405631082976 0
-0.609092697417 -0.430158695327 0
-0.400501610991 -0.376741231304 0
-0.186173128789 -0.255202157567 0
-0.288755464916 -0.294057606714 0
-0.315226920895 -0.362257222517 0
-0.669443067321 -0.532534986951 0
-1 -0.75 0
-0.906250000192 -0.718750000576 0
-0.833333333333 -0.666666667691 0
-0.574182186159 -0.509108755746 0
-0.734189159827 -0.642368031239 0
1 0.75 0
0.420774076433 0.418806494138 0
0.906249998143 0.718749998527 0
0.833333331284 0.666666665642 0
0.734186510587 0.642350113524 0
0.694812709833 0.538652902133 0
0.50425642338 0.466257455355 0
0.610331785782 0.524133750446 0
0.46801849936 0.340393202976 0
0.224018586356 0.102217461171 0
0.393952133967 0.298267837426 0
0.290004062271 0.151371222037 0
0.271862942327 0.221080111825 0
0.324208851181 0.258601233138 0
0.451292518295 0.256822931168 0
-0.118969408068 -0.224016516957 0
-0.0736127152793 -0.168123259086 0
-2.20436423847e-17 -0.12 0
0.12 0 0
0.172550330006 0.039793713521 0
0.103923048454 -0.06 0
-0.411736243695 -0.459864162616 0
-0.483661408335 -0.486848192277 0
-0.343120953295 -0.434121889001 0
-0.125412337692 -0.290000784015 0
-0.21723468743 -0.328919810829 0
-0.222667535322 -0.435201750449 0
-0.611610553331 -0.621956989841 0
-0.906250000192 -0.812500001409 0
-1 -0.875 0
-0.812500001409 -0.812500001409 0
-0.750000001537 -0.750000001537 0
-0.52673094629 -0.607660454239 0
-0.612946294912 -0.723708409093 0
1 0.625 0
0.530972560151 0.372917865471 0
0.91666666513 0.583333331797 0
0.782868163737 0.5537863866 0
0.704713807632 0.441715504734 0
0.609093180959 0.430159885744 0
0.515262924335 0.261979913862 0
0.237291480542 0.0418356917257 0
0.310630661259 0.0749942417955 0
0.360277137775 0.185877356386 0
0.43520793201 0.176457338479 0
-0.0696441268266 -0.236875017115 0
-0.0749942438444 -0.310630663308 0
0.06 -0.103923048454 0
0.125297729881 -0.12529773193 0
0.00895573190316 -0.183048365342 0
0.162052298768 -0.088543163043 0
0.183048363294 -0.00895573395207 0
0.250564374729 -0.0185460777195 0
-0.363025688625 -0.541120848657 0
-0.445305653424 -0.593945737271 0
-0.285740295598 -0.491502544648 0
-0.1205911549 -0.389682710254 0
-0.204601606265 -0.515269609927 0
-0.154782976261 -0.454970475058 0
-1 -1 0
-0.833333333333 -0.916666667179 0
-0.875 -1 0
-0.7 -0.9 0
-0.598371156769 -0.818680168613 0
-0.516170900703 -0.768407834199 0
-0.479811625909 -0.678895474392 0
1 0.5 0
0.600201238785 0.303687111292 0
0.890322007975 0.446144897068 0
0.787491944327 0.395652325354 0
0.690986198924 0.348265181527 0
0.600201238785 0.234457817985 0
0.5656015922 0.15789217619 0
0.474739197618 0.086898413102 0
0.322998970023 -1.02445474326e-09 0
0.389688023077 0.0807289371087 0
-1.02445474326e-09 -0.250564376778 0
-0.0398633436671 -0.400637929049 0
-1.02445474326e-09 -0.322995337307 0
0.0885431609941 -0.162052300816 0
0.185980094863 -0.157005828113 0
0.0881900334621 -0.236872738727 0
0.224018586356 -0.10221746322 0
0.310630661259 -0.0749942438444 0
0.527892038811 0.00535506411023 0
-0.303689850684 -0.600206817966 0
-0.363412129379 -0.675839257218 0
-0.234459780841 -0.600206817966 0
-0.086898415151 -0.474739199667 0
-0.157892178239 -0.565601594248 0
-0.75 -1 0
-0.625 -1 0
-0.583333333846 -0.916666667179 0
-0.446145753512 -0.890323749548 0
-0.406068846868 -0.777075426911 0
1 0.375 0
0.690986198924 0.266371663628 0
0.890322007975 0.336444642615 0
0.787491944327 0.300296550989 0
0.662940147671 0.178531392364 0
0.573395343379 0.0644027474936 0
0.66293535732 0.100549863838 0
0.400637927 -1.02445474326e-09 0
0.483928598449 -0.05169440373 0
-0.0176020077594 -0.479333900082 0
0.0749942417955 -0.310630663308 0
0.0398625999129 -0.400632708427 0
0.168946447474 -0.222464330608 0
0.236393732332 -0.188236710698 0
0.151371222037 -0.29000406432 0
0.290004062271 -0.151371224086 0
0.389682708205 -0.1205911549 0
0.289517657263 -0.221146592797 0
0.573395343379 -0.0644027495425 0
-0.26637325768 -0.690990727014 0
-0.300297694281 -0.787495191849 0
-0.178531394413 -0.66294014972 0
-0.0789460906563 -0.569498470863 0
-0.100549865887 -0.662935359369 0
-1.02445474326e-09 -0.573395345428 0
-0.5 -1 0
-0.375 -1 0
-0.336445255239 -0.890323749548 0
1 0.25 0
0.767648114886 0.200733182859 0
0.879814277198 0.224516375106 0
0.771816853128 0.0925876205718 0
0.668982798205 -1.02445474326e-09 0
0.66293535732 -0.100549865887 0
0.459568265229 -0.114075872129 0
0.0516944016811 -0.483928600497 0
0.0789460865585 -0.569498470863 0
0.120591152851 -0.389682710254 0
0.185877356386 -0.360277139824 0
0.219917513356 -0.255837969068 0
0.43520793201 -0.176457340528 0
0.360277137775 -0.185877358435 0
0.323722542472 -0.277689176777 0
0.5656015922 -0.157892178239 0
-0.200733184908 -0.767648116935 0
-0.224516377155 -0.879814279247 0
-0.108145313345 -0.767644670669 0
-1.02445474326e-09 -0.668987502501 0
0.0779811791871 -0.668987502501 0
-0.25 -1 0
1 0.125 0
0.881970586611 0.108234457307 0
0.881968771277 -1.02445474326e-09 0
0.771813468329 -1.02445474326e-09 0
0.76764466862 -0.108145313345 0
0.662940147671 -0.178531394413 0
0.515262924335 -0.204599258215 0
0.138575492276 -0.474500356218 0
0.15789217619 -0.565601594248 0
0.222670569758 -0.435207934058 0
0.258601233138 -0.324208855279 0
0.407517003927 -0.250352279796 0
0.359765701238 -0.337270525319 0
0.600201238785 -0.234457820034 0
-0.125 -1 0
-0.108234201193 -0.881968773326 0
-1.02445474326e-09 -0.771816855177 0
-1.02445474326e-09 -0.88197058866 0
0.108145311296 -0.767644670669 0
0.178531392364 -0.66294014972 0
1 0 0
0.881970586611 -0.108234459356 0
0.767648114886 -0.200733184908 0
0.690986198924 -0.266371665677 0
0.234457817985 -0.600201240834 0
0.491509553968 -0.285743250126 0
0.261979913862 -0.515262926384 0
0.311277989681 -0.425529200328 0
0.445287291096 -0.36312995354 0
0.376744732891 -0.400503088255 0
0.580610132106 -0.323286532446 0
0 -1 0
0.108234457307 -0.88197058866 0
0.200733182859 -0.767648116935 0
0.266371663628 -0.690986200972 0
1 -0.125 0
0.879814277198 -0.224516377155 0
0.787491944327 -0.300296553038 0
0.675844002493 -0.363414129115 0
0.303687111292 -0.600201240834 0
0.511379375878 -0.39251521108 0
0.372917865471 -0.530972564249 0
0.44214861965 -0.461743887665 0
0.593949294178 -0.445307153226 0
0.125 -1 0
0.224516375106 -0.879814279247 0
0.300296550989 -0.787491946376 0
0.348265181527 -0.690986200972 0
1 -0.25 0
0.890322007975 -0.336444644664 0
0.787491944327 -0.395652327403 0
0.699040026403 -0.48433834555 0
0.430159877548 -0.60909319735 0
0.512054585863 -0.527200175288 0
0.591967652265 -0.550704387995 0
0.67558199612 -0.575297225337 0
0.25 -1 0
0.441715482196 -0.704713787143 0
0.336444642615 -0.890322010024 0
0.395652325354 -0.787491946376 0
1 -0.375 0
0.884947740459 -0.451521758504 0
0.777506214266 -0.559169134553 0
0.567517669003 -0.640802301598 0
0.702340676451 -0.661082350054 0
0.375 -1 0
0.509088950985 -0.775489730644 0
0.446144897068 -0.890322010024 0
1 -0.5 0
0.833333331284 -0.666666667691 0
0.91666666513 -0.583333333846 0
0.627175140686 -0.762995565555 0
0.749999999488 -0.750000001537 0
0.5 -1 0
0.583333331797 -0.916666667179 0
1 -0.625 0
0.81249999936 -0.812500001409 0
0.906249998143 -0.718750000576 0
0.699999997951 -0.850000000512 0
0.625 -1 0
1 -0.75 0
0.81249999936 -0.906250000192 0
0.91666666513 -0.833333333333 0
0.75 -1 0
1 -0.875 0
0.875 -1 0
1 -1 0"
element="
301 273 300
333 301 332
303 273 301
299 329 298
299 331 329
309 299 277
330 331 299
358 362 334
359 358 331
359 385 358
295 328 296
294 305 327
272 294 262
272 304 294
327 328 295
303 335 304
364 382 355
203 202 172
235 203 233
265 235 233
199 232 233
264 296 265
288 293 320
234 263 254
234 266 263
171 190 160
235 234 203
261 263 267
326 297 328
355 326 328
353 325 326
222 228 197
202 222 190
202 234 222
324 320 293
325 324 293
326 325 297
353 354 325
352 349 324
225 226 195
194 198 225
161 194 193
161 168 194
260 292 291
258 260 291
290 258 291
290 257 258
229 227 230
254 259 228
222 234 254
263 266 296
267 263 296
293 267 297
293 261 267
261 254 263
291 322 290
349 323 320
377 349 352
354 379 352
350 376 348
399 378 377
399 398 378
350 378 376
321 350 348
351 323 349
321 322 350
290 289 256
161 164 133
198 227 229
193 194 225
196 197 227
165 196 168
197 228 227
224 192 195
304 273 303
351 322 323
378 351 377
350 322 351
289 321 319
305 304 335
363 336 335
327 295 294
239 272 262
271 273 304
351 349 377
226 224 195
256 289 255
257 290 256
225 257 226
225 229 257
290 321 289
351 378 350
348 319 321
287 253 255
189 191 221
192 162 195
223 192 224
191 162 192
223 191 192
162 163 195
223 255 253
191 223 221
224 255 223
164 161 193
198 194 168
163 164 195
163 133 164
133 132 161
223 253 221
226 256 224
289 287 255
136 109 130
193 195 164
196 198 168
225 195 193
257 256 226
229 260 258
257 229 258
288 292 259
288 320 292
323 322 291
322 321 290
256 255 224
161 132 137
289 319 287
166 190 197
167 165 135
166 167 136
196 165 167
160 130 131
484 482 483
480 483 482
478 480 482
475 467 474
478 475 480
478 473 475
479 474 476
483 479 481
483 480 479
479 480 474
466 459 468
476 477 481
459 466 458
272 240 271
264 265 232
208 207 240
231 208 239
178 207 208
139 151 170
170 151 178
199 200 178
201 169 170
111 139 140
122 151 139
150 177 151
208 240 239
137 132 110
107 108 134
168 161 137
107 134 110
136 135 109
167 166 197
89 85 105
108 90 109
71 85 89
70 71 88
70 54 55
178 151 177
296 328 297
231 239 262
264 232 262
199 208 231
201 200 233
178 208 199
272 271 304
305 294 304
239 240 272
108 107 88
90 108 88
71 90 88
71 89 90
109 135 108
105 109 89
160 190 166
169 172 142
139 170 140
233 203 201
296 264 295
261 288 254
325 293 297
222 197 190
288 259 254
293 288 261
320 323 292
292 323 291
264 262 295
266 265 296
232 199 231
262 232 231
265 233 232
165 168 137
134 165 137
135 136 167
113 92 112
131 113 141
160 131 141
171 160 141
166 136 160
130 105 131
106 92 113
227 228 259
230 227 259
260 230 259
260 229 230
292 260 259
225 198 229
198 196 227
196 167 197
234 202 203
266 234 235
265 266 235
296 297 267
254 228 222
142 138 169
171 142 172
141 138 142
136 130 160
131 105 106
172 201 203
200 199 233
170 200 201
170 178 200
320 324 349
134 137 110
135 134 108
135 165 134
67 55 51
54 39 55
38 39 54
177 150 149
177 207 178
68 69 53
56 68 52
86 69 68
92 86 72
106 87 86
138 141 113
87 69 86
105 87 106
105 85 87
109 105 130
85 69 87
109 90 89
119 99 97
150 119 121
122 99 119
91 80 99
111 91 99
122 111 99
140 112 111
92 72 73
112 92 91
111 112 91
138 113 112
169 138 140
170 169 140
201 172 169
171 202 190
142 171 141
172 202 171
72 56 62
106 86 92
86 68 72
140 138 112
55 39 51
71 55 67
71 70 55
23 35 27
30 31 36
52 68 53
72 68 56
13 15 7
12 13 7
19 28 18
29 19 22
29 42 28
53 51 37
52 53 37
69 67 53
17 26 16
39 27 35
39 38 27
26 27 38
23 27 17
14 23 17
25 36 37
15 25 23
24 30 36
15 18 25
18 13 19
24 18 28
15 13 18
103 83 102
93 74 84
115 93 104
94 74 93
66 50 65
74 66 84
58 75 57
104 93 84
94 77 75
52 37 36
9 16 8
12 22 13
17 16 9
15 23 14
27 26 17
21 32 33
22 21 33
60 59 75
7 6 12
11 20 21
33 32 47
48 33 47
63 48 47
64 49 48
22 12 21
34 22 33
34 41 29
19 13 22
12 11 21
49 50 41
33 48 34
64 82 65
84 66 83
74 94 75
116 94 93
144 173 143
144 155 173
114 144 143
115 127 128
128 157 155
278 279 309
244 278 277
268 244 277
213 204 184
241 243 212
246 216 243
244 245 278
215 183 214
213 215 245
213 184 215
185 182 212
156 127 154
182 156 181
157 128 156
144 128 155
144 115 128
212 211 241
185 212 216
182 211 212
174 176 147
175 174 146
205 176 174
62 78 80
56 46 62
95 96 79
94 95 77
96 98 79
114 117 95
117 118 96
98 118 120
97 98 121
96 118 98
143 117 114
116 144 114
173 146 143
143 145 117
147 120 118
119 150 122
79 98 97
78 79 97
80 78 97
61 76 78
76 95 79
147 148 120
121 120 150
1 4 2
5 10 11
5 3 4
10 5 4
11 12 6
6 9 3
11 10 20
48 49 34
6 5 11
14 6 7
3 5 6
8 3 9
2 4 3
32 21 20
9 14 17
2 3 8
6 14 9
63 64 48
64 63 81
65 49 64
66 65 83
50 49 65
49 41 34
117 96 95
113 131 106
78 62 61
82 81 100
83 82 101
64 81 82
147 176 148
120 121 98
149 120 148
149 150 120
124 100 123
67 69 85
71 67 85
51 53 67
35 51 39
35 37 51
40 46 56
52 40 56
36 31 40
35 25 37
57 42 41
25 24 36
35 23 25
14 7 15
59 42 57
24 25 18
22 34 29
73 80 91
78 76 79
46 61 62
46 44 45
77 95 76
73 62 80
92 73 91
72 62 73
61 60 76
60 75 77
76 60 77
28 30 24
29 28 19
42 30 28
41 42 29
43 30 42
59 43 42
59 44 43
75 59 57
44 31 43
45 44 60
61 45 60
61 46 45
31 30 43
46 31 44
46 40 31
52 36 40
44 59 60
50 57 41
50 66 58
58 66 74
75 58 74
57 50 58
94 114 95
97 99 80
82 100 101
129 152 123
82 83 65
124 101 100
103 126 104
83 103 84
125 126 103
124 125 101
179 159 187
153 179 180
154 153 180
125 124 153
152 159 179
153 152 179
124 123 152
158 159 129
249 283 250
145 147 118
298 329 302
269 298 302
206 237 238
268 298 269
184 155 183
175 173 204
146 145 143
277 298 268
236 244 268
311 310 342
309 311 341
279 310 311
277 299 298
159 152 129
186 188 158
180 209 210
125 153 154
179 187 209
246 278 245
152 153 124
127 104 126
182 185 156
115 104 127
104 84 103
154 127 126
116 114 94
115 116 93
115 144 116
284 283 315
220 219 250
252 220 250
159 188 187
186 219 188
186 218 219
218 248 249
312 314 282
313 282 314
313 343 315
281 313 283
314 343 313
315 344 345
281 248 282
313 281 282
373 346 345
252 284 286
249 248 281
283 249 281
250 219 249
157 156 185
183 157 185
128 127 156
154 181 156
125 154 126
180 179 209
180 210 181
154 180 181
252 250 284
251 242 247
220 188 219
251 285 275
242 251 275
247 280 251
252 280 247
286 317 318
187 188 220
158 188 159
316 284 315
318 285 286
347 318 317
285 280 286
307 285 318
307 275 285
306 308 276
339 306 307
338 308 306
242 209 217
217 187 220
375 346 374
242 210 209
274 306 276
243 274 276
275 306 274
246 279 278
345 344 373
316 315 345
346 316 345
286 284 316
280 285 251
339 307 318
339 338 306
250 283 284
315 343 344
346 317 316
283 313 315
218 249 219
204 213 236
173 184 204
213 244 236
183 215 184
215 214 245
176 205 206
245 244 213
269 236 268
183 155 157
214 183 185
216 214 185
216 245 214
184 173 155
237 204 236
175 146 173
205 175 204
205 174 175
122 139 111
97 121 119
150 151 122
102 101 125
103 102 125
83 101 102
393 397 412
346 375 347
317 346 347
339 318 347
286 316 317
373 374 346
374 397 375
145 146 174
147 145 174
118 117 145
413 394 392
413 393 412
430 429 442
396 395 414
413 429 415
237 206 205
430 443 431
429 430 415
442 443 430
443 442 454
456 443 454
431 416 430
408 387 386
332 360 333
334 362 360
302 329 334
300 302 332
270 238 269
309 279 311
330 309 341
357 330 341
359 331 330
277 278 309
210 211 182
181 210 182
247 220 252
247 217 220
286 280 252
242 217 247
241 242 275
211 210 242
209 187 217
368 392 367
375 368 347
375 393 368
276 308 279
246 276 279
216 246 245
243 276 246
212 243 216
241 275 274
243 241 274
211 242 241
275 307 306
367 338 339
340 308 338
367 340 338
369 342 340
394 395 371
472 471 477
444 456 457
445 444 457
455 450 445
464 455 457
464 469 461
437 422 432
431 443 444
463 471 465
371 342 369
357 383 359
370 357 341
372 383 357
384 405 383
417 406 396
422 424 406
417 422 406
416 417 396
432 444 445
437 424 422
385 359 383
407 385 405
386 362 385
309 330 299
383 405 385
330 357 359
384 396 406
405 384 406
372 396 384
370 371 395
357 370 372
342 371 370
311 342 341
310 340 342
372 384 383
385 362 358
279 308 310
340 310 308
339 368 367
396 414 416
392 394 369
367 392 369
340 367 369
339 347 368
393 413 392
368 393 392
375 397 393
413 415 414
429 413 412
395 396 372
370 395 372
341 342 370
369 394 371
414 415 430
394 414 395
394 413 414
302 270 269
237 269 238
204 237 205
236 269 237
456 463 465
469 476 470
467 460 462
464 465 472
461 455 464
462 461 469
451 450 461
457 465 464
447 459 458
446 447 458
435 448 447
434 435 447
381 403 402
421 436 435
402 403 420
428 436 421
448 459 447
436 448 435
436 449 448
420 421 435
450 439 437
457 455 445
453 462 460
441 452 449
461 462 453
424 407 405
427 426 410
408 425 410
440 451 438
439 440 427
439 451 440
407 386 385
425 407 424
439 425 424
427 410 425
425 408 407
365 390 389
437 439 424
426 409 410
411 423 428
404 409 423
361 363 335
390 365 387
410 390 408
410 409 390
389 363 365
388 389 409
391 382 404
364 389 388
333 303 301
336 327 305
364 336 363
364 355 336
335 336 305
438 428 423
440 438 426
441 449 436
451 441 438
452 461 453
449 452 453
451 461 452
455 461 450
441 436 428
472 476 469
471 472 465
477 476 472
460 467 468
459 460 468
462 469 470
449 453 460
452 441 451
428 438 441
462 470 467
474 470 476
481 479 476
480 475 474
449 460 448
474 467 470
475 473 468
416 431 417
302 300 270
450 451 439
456 444 443
463 456 454
417 432 422
465 457 456
464 472 469
439 427 425
445 450 437
426 423 409
440 426 427
438 423 426
424 405 406
416 414 430
325 354 352
355 356 337
327 355 328
327 336 355
411 391 404
421 411 428
403 381 391
421 403 411
421 420 403
401 380 402
411 404 423
366 391 381
366 356 382
337 356 366
326 337 353
326 355 337
364 388 382
434 447 446
300 332 301
468 473 466
448 460 459
467 475 468
434 446 433
420 434 419
420 435 434
411 403 391
418 400 419
380 379 354
262 294 295
387 360 362
390 387 408
361 333 360
365 361 387
365 363 361
364 363 389
335 333 361
366 381 380
337 366 353
382 388 404
366 382 391
356 355 382
432 445 437
431 432 417
431 444 432
404 388 409
358 329 331
358 334 329
386 387 362
407 408 386
390 409 389
360 332 334
387 361 360
335 303 333
332 302 334
419 434 433
400 418 399
379 401 400
377 379 399
377 352 379
419 433 418
401 419 400
402 420 419
325 352 324
366 380 353
379 400 399
380 401 379
353 380 354
381 402 380
402 419 401
398 399 418
398 376 378">
<edge equality="true" damping="0.1"/>
<elasticity poisson="0.3" young="3e5" thickness="8e-3" elastic2d="bend"/>
<contact solref="0.003" contype="0" conaffinity="0" vertcollide="true"/>
</flexcomp>
</worldbody>
</mujoco>