<mujoco model="walker2d">
    <compiler angle="degree" coordinate="global" inertiafromgeom="true" />
    <default>
        <joint armature="0.01" damping=".1" limited="true" />
        <geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" />
    </default>
    <option integrator="RK4" timestep="0.002" />
    <worldbody>
        <!-- CHANGES: see hopper.xml -->
        <body name="torso">
            <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide" />
            <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide" />
            <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge" />
            <geom fromto="0 0 1.0384 0 0 0.7974" name="torso_geom" size="0.0462" type="capsule" />
            <body name="thigh">
                <joint axis="0 -1 0" name="thigh_joint" pos="0 0 0.7974" range="-150 0" type="hinge" />
                <geom fromto="0 0 0.7974 0 0 0.502" name="thigh_geom" size="0.0303" type="capsule" />
                <body name="leg">
                    <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.502" range="-150 0" type="hinge" />
                    <geom fromto="0 0 0.502 0 0 0.1" name="leg_geom" size="0.0427" type="capsule" />
                    <body name="foot">
                        <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge" />
                        <geom fromto="-0.0 0 0.1 0.115 0 0.1" name="foot_geom" size="0.0447" type="capsule" />
                    </body>
                </body>
            </body>
            <!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
            <body name="thigh_left">
                <joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 0.7974" range="-150 0" type="hinge" />
                <geom fromto="0 0 0.7974 0 0 0.502" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.0303" type="capsule" />
                <body name="leg_left">
                    <joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.502" range="-150 0" type="hinge" />
                    <geom fromto="0 0 0.502 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.0427" type="capsule" />
                    <body name="foot_left">
                        <joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge" />
                        <geom fromto="-0.0 0 0.1 0.115 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.0447" type="capsule" />
                    </body>
                </body>
            </body>
        </body>
    </worldbody>
    <actuator>
        <!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint" />
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint" />
        <!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
    </actuator>
</mujoco>

