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<mujoco model="b2">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<default>
<default class="b2">
<geom type="mesh"/>
<joint damping="1" armature="0.1"/>
<default class="visual">
<geom contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom group="3" mass="0" density="0"/>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>
</default>
<asset>
<mesh name="base_link" file="base_link.obj"/>
<mesh name="logo_left" file="logo_left.obj"/>
<mesh name="logo_right" file="logo_right.obj"/>
<mesh name="unitree_ladar" file="unitree_ladar.obj"/>
<mesh name="f_dc_link" file="f_dc_link.obj"/>
<mesh name="r_dc_link" file="r_dc_link.obj"/>
<mesh name="fake_imu_link" file="fake_imu_link.STL"/>
<mesh name="fake_head_Link" file="fake_head_Link.STL"/>
<mesh name="fake_tail_link" file="fake_tail_link.STL"/>
<mesh name="FL_hip" file="FL_hip.obj"/>
<mesh name="FL_thigh" file="FL_thigh.obj"/>
<mesh name="FL_thigh_protect" file="FL_thigh_protect.obj"/>
<mesh name="FL_calf" file="FL_calf.obj"/>
<mesh name="FL_foot" file="FL_foot.obj"/>
<mesh name="FR_hip" file="FR_hip.obj"/>
<mesh name="FR_thigh" file="FR_thigh.obj"/>
<mesh name="FR_thigh_protect" file="FR_thigh_protect.obj"/>
<mesh name="FR_calf" file="FR_calf.obj"/>
<mesh name="FR_foot" file="FR_foot.obj"/>
<mesh name="RL_hip" file="RL_hip.obj"/>
<mesh name="RL_thigh" file="RL_thigh.obj"/>
<mesh name="RL_thigh_protect" file="RL_thigh_protect.obj"/>
<mesh name="RL_calf" file="RL_calf.obj"/>
<mesh name="RL_foot" file="RL_foot.obj"/>
<mesh name="RR_hip" file="RR_hip.obj"/>
<mesh name="RR_thigh" file="RR_thigh.obj"/>
<mesh name="RR_thigh_protect" file="RR_thigh_protect.obj"/>
<mesh name="RR_calf" file="RR_calf.obj"/>
<mesh name="RR_foot" file="RR_foot.obj"/>
<mesh name="f_oc_link" file="f_oc_link.obj"/>
<mesh name="r_oc_link" file="r_oc_link.obj"/>
</asset>
<worldbody>
<body name="base_link" pos="0 0 0.8" childclass="b2">
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<joint name="floating_base_joint" type="free"/>
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<actuator>
<motor class="b2" ctrlrange="-200 200" name="FR_hip" joint="FR_hip_joint"/>
<motor class="b2" ctrlrange="-200 200" name="FR_thigh" joint="FR_thigh_joint"/>
<motor class="b2" ctrlrange="-300 300" name="FR_calf" joint="FR_calf_joint"/>
<motor class="b2" ctrlrange="-200 200" name="FL_hip" joint="FL_hip_joint"/>
<motor class="b2" ctrlrange="-200 200" name="FL_thigh" joint="FL_thigh_joint"/>
<motor class="b2" ctrlrange="-300 300" name="FL_calf" joint="FL_calf_joint"/>
<motor class="b2" ctrlrange="-200 200" name="RR_hip" joint="RR_hip_joint"/>
<motor class="b2" ctrlrange="-200 200" name="RR_thigh" joint="RR_thigh_joint"/>
<motor class="b2" ctrlrange="-300 300" name="RR_calf" joint="RR_calf_joint"/>
<motor class="b2" ctrlrange="-200 200" name="RL_hip" joint="RL_hip_joint"/>
<motor class="b2" ctrlrange="-200 200" name="RL_thigh" joint="RL_thigh_joint"/>
<motor class="b2" ctrlrange="-300 300" name="RL_calf" joint="RL_calf_joint"/>
</actuator>
<sensor>
<jointpos name="FR_hip_pos" joint="FR_hip_joint" />
<jointpos name="FR_thigh_pos" joint="FR_thigh_joint" />
<jointpos name="FR_calf_pos" joint="FR_calf_joint" />
<jointpos name="FL_hip_pos" joint="FL_hip_joint" />
<jointpos name="FL_thigh_pos" joint="FL_thigh_joint" />
<jointpos name="FL_calf_pos" joint="FL_calf_joint" />
<jointpos name="RR_hip_pos" joint="RR_hip_joint" />
<jointpos name="RR_thigh_pos" joint="RR_thigh_joint" />
<jointpos name="RR_calf_pos" joint="RR_calf_joint" />
<jointpos name="RL_hip_pos" joint="RL_hip_joint" />
<jointpos name="RL_thigh_pos" joint="RL_thigh_joint" />
<jointpos name="RL_calf_pos" joint="RL_calf_joint" />
<jointvel name="FR_hip_vel" joint="FR_hip_joint" />
<jointvel name="FR_thigh_vel" joint="FR_thigh_joint" />
<jointvel name="FR_calf_vel" joint="FR_calf_joint" />
<jointvel name="FL_hip_vel" joint="FL_hip_joint" />
<jointvel name="FL_thigh_vel" joint="FL_thigh_joint" />
<jointvel name="FL_calf_vel" joint="FL_calf_joint" />
<jointvel name="RR_hip_vel" joint="RR_hip_joint" />
<jointvel name="RR_thigh_vel" joint="RR_thigh_joint" />
<jointvel name="RR_calf_vel" joint="RR_calf_joint" />
<jointvel name="RL_hip_vel" joint="RL_hip_joint" />
<jointvel name="RL_thigh_vel" joint="RL_thigh_joint" />
<jointvel name="RL_calf_vel" joint="RL_calf_joint" />
<jointactuatorfrc name="FR_hip_torque" joint="FR_hip_joint" noise="0.01" />
<jointactuatorfrc name="FR_thigh_torque" joint="FR_thigh_joint" noise="0.01" />
<jointactuatorfrc name="FR_calf_torque" joint="FR_calf_joint" noise="0.01" />
<jointactuatorfrc name="FL_hip_torque" joint="FL_hip_joint" noise="0.01" />
<jointactuatorfrc name="FL_thigh_torque" joint="FL_thigh_joint" noise="0.01" />
<jointactuatorfrc name="FL_calf_torque" joint="FL_calf_joint" noise="0.01" />
<jointactuatorfrc name="RR_hip_torque" joint="RR_hip_joint" noise="0.01" />
<jointactuatorfrc name="RR_thigh_torque" joint="RR_thigh_joint" noise="0.01" />
<jointactuatorfrc name="RR_calf_torque" joint="RR_calf_joint" noise="0.01" />
<jointactuatorfrc name="RL_hip_torque" joint="RL_hip_joint" noise="0.01" />
<jointactuatorfrc name="RL_thigh_torque" joint="RL_thigh_joint" noise="0.01" />
<jointactuatorfrc name="RL_calf_torque" joint="RL_calf_joint" noise="0.01" />
<framequat name="imu_quat" objtype="site" objname="imu" />
<gyro name="imu_gyro" site="imu" />
<accelerometer name="imu_acc" site="imu" />
<framepos name="frame_pos" objtype="site" objname="imu" />
<framelinvel name="frame_vel" objtype="site" objname="imu" />
</sensor>
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