<mujoco model="planar walker"> <include file="./common/skybox.xml"/> <include file="./common/visual.xml"/> <include file="./common/materials.xml"/> <option timestep="0.0025"/> <statistic extent="2" center="0 0 1"/> <default> <joint damping=".1" armature="0.01" limited="true" solimplimit="0 .99 .01"/> <geom contype="1" conaffinity="0" friction=".7 .1 .1"/> <motor ctrlrange="-1 1" ctrllimited="true"/> <site size="0.01"/> <default class="walker"> <geom material="self" type="capsule"/> <joint axis="0 -1 0"/> </default> </default> <worldbody> <geom name="floor" type="plane" conaffinity="1" pos="248 0 0" size="250 .8 .2" material="grid" zaxis="0 0 1"/> <body name="torso" pos="0 0 1.3" childclass="walker"> <light name="light" pos="0 0 2" mode="trackcom"/> <camera name="side" pos="0 -2 .7" euler="60 0 0" mode="trackcom"/> <camera name="back" pos="-2 0 .5" xyaxes="0 -1 0 1 0 3" mode="trackcom"/> <joint name="rootz" axis="0 0 1" type="slide" limited="false" armature="0" damping="0"/> <joint name="rootx" axis="1 0 0" type="slide" limited="false" armature="0" damping="0"/> <joint name="rooty" axis="0 1 0" type="hinge" limited="false" armature="0" damping="0"/> <geom name="torso" size="0.07 0.3"/> <body name="right_thigh" pos="0 -.05 -0.3"> <joint name="right_hip" range="-20 100"/> <geom name="right_thigh" pos="0 0 -0.225" size="0.05 0.225"/> <body name="right_leg" pos="0 0 -0.7"> <joint name="right_knee" pos="0 0 0.25" range="-150 0"/> <geom name="right_leg" size="0.04 0.25"/> <body name="right_foot" pos="0.06 0 -0.25"> <joint name="right_ankle" pos="-0.06 0 0" range="-45 45"/> <geom name="right_foot" zaxis="1 0 0" size="0.05 0.1"/> </body> </body> </body> <body name="left_thigh" pos="0 .05 -0.3" > <joint name="left_hip" range="-20 100"/> <geom name="left_thigh" pos="0 0 -0.225" size="0.05 0.225"/> <body name="left_leg" pos="0 0 -0.7"> <joint name="left_knee" pos="0 0 0.25" range="-150 0"/> <geom name="left_leg" size="0.04 0.25"/> <body name="left_foot" pos="0.06 0 -0.25"> <joint name="left_ankle" pos="-0.06 0 0" range="-45 45"/> <geom name="left_foot" zaxis="1 0 0" size="0.05 0.1"/> </body> </body> </body> </body> </worldbody> <sensor> <subtreelinvel name="torso_subtreelinvel" body="torso"/> </sensor> <actuator> <motor name="right_hip" joint="right_hip" gear="100"/> <motor name="right_knee" joint="right_knee" gear="50"/> <motor name="right_ankle" joint="right_ankle" gear="20"/> <motor name="left_hip" joint="left_hip" gear="100"/> <motor name="left_knee" joint="left_knee" gear="50"/> <motor name="left_ankle" joint="left_ankle" gear="20"/> </actuator> </mujoco>