16 lines
594 B
XML
16 lines
594 B
XML
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<mujoco>
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<worldbody>
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<body name="base" pos="0 0 0.5">
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<geom name="base_geom" type="cylinder" size="0.1 0.05" mass="5.0"/>
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<body name="link1" pos="0 0 0.1">
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<joint name="joint1" type="hinge" axis="0 0 1" range="-3.14 3.14"/>
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<geom name="link1_geom" type="box" size="0.05 0.05 0.2" mass="1.0"/>
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<body name="link2" pos="0 0 0.4">
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<joint name="joint2" type="hinge" axis="0 1 0" range="-1.57 1.57"/>
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<geom name="link2_geom" type="box" size="0.05 0.05 0.15" mass="0.5"/>
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</body>
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</body>
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</body>
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</worldbody>
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</mujoco>
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