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balance_bot.xml
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<mujoco model="BalanceBot">
<compiler angle="degree" coordinate="local" inertiafromgeom="true" />
<worldbody>
<body name="tray" pos="0 0 0.559117">
<joint name="root_joint" type="free" />
<geom type="cylinder" size="0.5 0.01" pos="0 0 0" density="100" />
<body name="upper_leg0" pos="0.272721 0 -0.157279" quat="0.382683 0 -0.92388 0">
<geom type="capsule" size="0.02 0.18" density="1000" />
<joint name="upper_leg_joint0" type="hinge" pos="0 0 -0.18" axis="0 1 0" limited="true" range="-45 45" />
<body name="lower_leg0" pos="-0.18 0 0.18" quat="0.707107 0 -0.707107 0">
<geom type="capsule" size="0.02 0.18" density="1000" />
<joint name="lower_leg_joint0" type="hinge" pos="0 0 -0.18" axis="0 1 0" limited="true" range="-70 90" />
</body>
</body>
<body name="upper_leg1" pos="-0.13636 0.236183 -0.157279" quat="0.191342 0.800103 -0.46194 0.331414">
<geom type="capsule" size="0.02 0.18" density="1000" />
<joint name="upper_leg_joint1" type="hinge" pos="0 0 -0.18" axis="0 1 0" limited="true" range="-45 45" />
<body name="lower_leg1" pos="-0.18 0 0.18" quat="0.707107 0 -0.707107 0">
<geom type="capsule" size="0.02 0.18" density="1000" />
<joint name="lower_leg_joint1" type="hinge" pos="0 0 -0.18" axis="0 1 0" limited="true" range="-70 90" />
</body>
</body>
<body name="upper_leg2" pos="-0.13636 -0.236183 -0.157279" quat="-0.191342 0.800103 0.46194 0.331414">
<geom type="capsule" size="0.02 0.18" density="1000" />
<joint name="upper_leg_joint2" type="hinge" pos="0 0 -0.18" axis="0 1 0" limited="true" range="-45 45" />
<body name="lower_leg2" pos="-0.18 0 0.18" quat="0.707107 0 -0.707107 0">
<geom type="capsule" size="0.02 0.18" density="1000" />
<joint name="lower_leg_joint2" type="hinge" pos="0 0 -0.18" axis="0 1 0" limited="true" range="-70 90" />
</body>
</body>
</body>
</worldbody>
</mujoco>