<mujoco model="humanoid2D">
  <compiler inertiafromgeom="true" angle="degree" coordinate="local"/>
  <default>
    <joint islimited="false" damping="0.01" armature="0.01"  compliance="0.01" timeconst="0.01"/>
    <geom contype="0" conaffinity="0" condim="3" friction="1 1 1" rgba="0.8 0.6 .4 0.75" density="100" mindist="10.0" compliance="0.01"  timeconst="0.01"/>
    <act-motor isctrllimited='false' isforcelimited='false' gear='1.0'/>
  </default>

  <option timestep="0.004"  gravity ="0 0 -10" remotecontact="true" expdist="10" >
    <disable warmstart="true" anticipate="false" actuation="false"/>
  </option>

  <size nuserdata="36"/>

  <body>
    <geom name="floor" pos="0 0 0" size="1 1 1e-3" type="plane"   rgba="0.85 0.85 0.85 1" conaffinity="1" />

    <body name="torso" pos="0 0 0.195" quat="1 0 0 0" >
      <joint name="rootx" type="slide" axis="1 0 0" pos="0 0 0" islimited="false" />
      <joint name="rootz" type="slide" axis="0 0 1" pos="0 0 0" islimited="false" />
      <joint name="rooty" type="hinge" axis="0 1 0" pos="0 0 0" islimited="false" />
      <geom name="butt" type="capsule" fromto="0 0 0 0 0 0.10"  size="0.035" />

      <site name="torso" pos="0 0 -0" />

      <body name="thighA" pos="0 -0.030 +0.005" >
        <joint name="thighA" type="hinge" pos="0 0 0" axis="0 1 0"   range="-180 180" stiffness="0"/>
        <geom name="thighA" type="capsule" fromto="0 0 0 0 0 -0.075"  size="0.025" />

        <body name="shinA" pos="0 0 -0.10" >
          <joint name="shinA" type="hinge" pos="0 0 0" axis="0 1 0"   range="-150 0" stiffness="0"/>
          <geom name="shinA" type="capsule" fromto="0 0 0 0 0 -0.075"   size="0.010" />

          <body name="footA" pos="0 0 -0.075" >
            <joint name="footA" type="hinge" pos="0 0 0" axis="0 1 0"   range="-90 90" stiffness="0"/>
            <geom name="footA" type="capsule" fromto="-0.02 0 0 +0.02 0 0"   size="0.010" />

            <geom name="footA1" type="sphere" pos="-0.02 0 0"  size="0.010" contype="1" density="0" />
            <geom name="footA2" type="sphere" pos="+0.02 0 0"  size="0.010" contype="1" density="0" />
          </body>

        </body>
      </body>

      <body name="thighB" pos="0 +0.030 +0.005" >
        <joint name="thighB" type="hinge" pos="0 0 0" axis="0 1 0"   range="-180 180" stiffness="0"/>
        <geom name="thighB" type="capsule" fromto="0 0 0 0 0 -0.075"  size="0.025" />

        <body name="shinB" pos="0 0 -0.10" >
          <joint name="shinB" type="hinge" pos="0 0 0" axis="0 1 0"   range="-150 0" stiffness="0"/>
          <geom name="shinB" type="capsule" fromto="0 0 0 0 0 -0.075"   size="0.010" />

          <body name="footB" pos="0 0 -0.075" >
            <joint name="footB" type="hinge" pos="0 0 0" axis="0 1 0"   range="-90 90" stiffness="0"/>
            <geom name="footB" type="capsule" fromto="-0.02 0 0 +0.02 0 0"   size="0.010" />

            <geom name="footB1" type="sphere" pos="-0.02 0 0"  size="0.010" contype="1" density="0" />
            <geom name="footB2" type="sphere" pos="+0.02 0 0"  size="0.010" contype="1" density="0" />
          </body>

        </body>
      </body>


    </body>

  </body>

  <actuator>

    <motor joint="thighA"  ctrlrange="-5.0 5.0" isctrllimited="true"/>
    <motor joint="shinA"  ctrlrange="-5.0 5.0" isctrllimited="true"/>
    <motor joint="footA"  ctrlrange="-5.0 5.0" isctrllimited="true"/>
    <motor joint="thighB"  ctrlrange="-5.0 5.0" isctrllimited="true"/>
    <motor joint="shinB"  ctrlrange="-5.0 5.0" isctrllimited="true"/>
    <motor joint="footB"  ctrlrange="-5.0 5.0" isctrllimited="true"/>


  </actuator>

</mujoco>