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</body>
<body name="frame" pos="0 0 0"></body>
<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality></equality>

<actuator><motor name="foot1" joint="j_x" gear="1" ctrlrange="0 60"/><motor name="foot2" joint="j_x" gear="-1" ctrlrange="0 60"/></actuator>
</mujoco>
