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<mujoco model="three_link_join">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<!--<option timestep="0.01" iterations="4" />-->
<default>
<joint armature="0.1" damping="0.1" limited="true"/>
<geom contype="0" conaffinity="0" condim="3" density="3000.0" friction="1 0.5 0.5" rgba="0.8 0.6 0.4 1"/>
</default>
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<body name="torso" pos="0 0 0.9">
<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
<geom name="torso_geom" contype="1" pos="0 0 0" size="0.08" type="sphere"/>
<joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
<body name="aux_1" pos="0.2 0.2 0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-180 180" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" contype="1" name="left_leg_geom" size="0.08" type="capsule"/>
<geom name="left_leg_geom2" contype="1" pos="0.2 0.2 0" size="0.08" type="sphere" mass="0"/>
<body pos="0.2 0.2 0">
<joint axis="1 0 0" name="ankle_11" pos="0.0 0.0 0.0" range="-180 180" type="hinge"/>
<joint axis="0 1 0" name="ankle_12" pos="0.0 0.0 0.0" range="-180 180" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.6 0.6 0.0" contype="1" name="left_ankle_geom" size="0.08" type="capsule"/>
<geom name="left_foot_geom" contype="1" pos="0.6 0.6 0" size="0.08" type="sphere" mass="0"/>
<body pos="0.6 0.6 0">
<joint axis="-1 1 0" name="ankle_2" pos="0.0 0.0 0.0" type="ball"/>
<geom fromto="0.0 0.0 0.0 0.6 0.6 0.0" contype="1" name="left_ankle_geom2" size="0.08" type="capsule"/>
<geom name="left_foot_geom2" contype="1" pos="0.6 0.6 0" size="0.08" type="sphere" mass="0"/>
</body>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>
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