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Custom Models

Learn how to create your own dinosaur models for Mesozoic Labs.

MuJoCo XML Format​

Dinosaur models are defined using MuJoCo's XML format:

<mujoco model="custom_dino">
  <worldbody>
    <body name="torso" pos="0 0 1.5">
      <joint type="free"/>
      <geom type="capsule" size="0.3 0.5"/>

      <!-- Add limbs, tail, etc. -->
    </body>
  </worldbody>

  <actuator>
    <!-- Define motors for each joint -->
  </actuator>
</mujoco>

Model Requirements​

  1. Bipedal or quadrupedal stance
  2. Properly configured joints with limits
  3. Actuators for each controllable joint
  4. Appropriate mass distribution
Coming Soon

Custom model creation guide is under development.