20 lines
787 B
XML
20 lines
787 B
XML
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<mujoco>
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<worldbody>
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<body name="ground" pos="0 0 0">
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<geom name="ground_geom" type="plane" size="5 5 0.1" rgba="0.5 0.5 0.5 1"/>
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</body>
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<body name="base" pos="0 0 0.5">
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<freejoint name="base_joint"/>
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<geom name="torso_geom" type="box" size="0.15 0.1 0.2" mass="5.0"/>
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<body name="left_foot" pos="0.1 0 -0.25">
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<joint name="left_ankle" type="hinge" axis="0 1 0" range="-0.5 0.5"/>
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<geom name="left_foot_geom" type="box" size="0.05 0.08 0.02" mass="0.2"/>
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</body>
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<body name="right_foot" pos="-0.1 0 -0.25">
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<joint name="right_ankle" type="hinge" axis="0 1 0" range="-0.5 0.5"/>
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<geom name="right_foot_geom" type="box" size="0.05 0.08 0.02" mass="0.2"/>
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</body>
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</body>
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</worldbody>
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</mujoco>
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