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  1. <mujoco model= "2dbiped.xml">
  2. <compiler angle = "global" coordinate="global" inertiafromgeom="true"/>
  3. <option integrator="RK4" timestep="0.0002"/>
  4. <worldbody>
  5.  
  6. <body name = "torso">
  7. <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorex" pos="0 0 1.33" stiffness="0" type="slide"/>
  8. <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 1.33" ref="1.33" stiffness="0" type="slide"/>
  9. <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorey" pos="0.0 0 1.33" range="-90 90" stiffness="0" type="hinge"/>
  10. <geom condim="3" contype="1" conaffinity="2" pos="0 0 1.33" size="0.1 0.07 0.24" name="torso_geom" type="box" mass="70"/>
  11. <body name = "left_upperleg">
  12. <geom condim="3" contype="1" conaffinity="2" size = "0.01 0.04 0.225" pos="-0.12 0 0.885" name="left_upperleg_geom" mass="5" rgba=".7 .3 .6 1" type="box"/>
  13. <joint armature="0.01" name="joint_l1" type="hinge" axis="1 0 0" pos="-0.01 0 1.10" range="-90 90"/>
  14. <body name = "left_lowerleg">
  15. <geom condim="3" contype="1" conaffinity="2" size = "0.01 0.03 0.225" pos="-0.14 0 0.455" name="left_lowerleg_geom" mass="4" rgba=".7 .3 .6 1" type="box"/>
  16. <joint armature="0.01" name="joint_l2" type="hinge" axis="1 0 0" pos="-0.03 0 0.67" range="-90 90"/>
  17. <body name = "left_foot">
  18. <geom condim="3" contype="1" conaffinity="2" size = "0.01 0.1 0.035" pos="-0.14 0.05 0.2" name="left_foot_geom" mass="4" rgba=".7 .3 .6 1" type="box"/>
  19. <joint armature="0.01" name="joint_l3" type="hinge" axis="1 0 0" pos="-0.03 0 0.23" range="-90 90"/>
  20. </body>
  21. </body>
  22. </body>
  23. <body name = "right_upperleg">
  24. <geom condim="3" contype="1" conaffinity="2" size = "0.01 0.04 0.225" pos="0.12 0 0.885" name="right_upperleg_geom" mass="5" rgba=".7 .3 .6 1" type="box"/>
  25. <joint armature="0.01" name="joint_r1" type="hinge" axis="1 0 0" pos="0.01 0 1.10" range="-90 90"/>
  26. <body name = "right_lowerleg">
  27. <geom condim="3" contype="1" conaffinity="2" size = "0.01 0.03 0.225" pos="0.14 0 0.455" name="right_lowerleg_geom" mass="4" rgba=".7 .3 .6 1" type="box"/>
  28. <joint armature="0.01" name="joint_r2" type="hinge" axis="1 0 0" pos="0.03 0 0.67" range="-90 90"/>
  29. <body name = "right_foot">
  30. <geom condim="3" contype="1" conaffinity="2" size = "0.01 0.1 0.035" pos="0.14 0.05 0.2" name="right_foot_geom" mass="4" rgba=".7 .3 .6 1" type="box"/>
  31. <joint armature="0.01" name="joint_r3" type="hinge" axis="1 0 0" pos="0.03 0 0.23" range="-90 90"/>
  32. </body>
  33. </body>
  34. </body>
  35. </body>
  36.  
  37. </worldbody>
  38. <actuator>
  39. <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_l1"/>
  40. <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_l2"/>
  41. <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_l3"/>
  42. <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_r1"/>
  43. <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_r2"/>
  44. <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="joint_r3"/>
  45. </actuator>
  46. </mujoco>
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