<mujoco model="planar walker">
  <include file="./common/visual.xml"/>
  <include file="./common/skybox.xml"/>
  <include file="./common/materials.xml"/>

  <option timestep="0.0025"/>

  <statistic extent="2" center="0 0 1"/>

  <default>
    <joint damping=".1" armature="0.01" limited="true" solimplimit="0 .99 .01"/>
    <geom contype="1" conaffinity="0" friction=".7 .1 .1"/>
    <motor ctrlrange="-1 1" ctrllimited="true"/>
    <site size="0.01"/>
    <default class="walker">
      <geom material="self" type="capsule"/>
      <joint axis="0 -1 0"/>
    </default>
  </default>

  <worldbody>
    <geom name="floor" type="plane" conaffinity="1" pos="248 0 0" size="250 .8 .2" material="grid" zaxis="0 0 1"/>
    <body name="torso" pos="0 0 1.3" childclass="walker">
      <light name="light" pos="0 0 2" mode="trackcom"/>
      <camera name="side" pos="0 -2 .7" euler="60 0 0" mode="trackcom"/>
      <camera name="back" pos="-2 0 .5" xyaxes="0 -1 0 1 0 3" mode="trackcom"/>
      <joint name="rootz" axis="0 0 1" type="slide" limited="false" armature="0" damping="0"/>
      <joint name="rootx" axis="1 0 0" type="slide" limited="false" armature="0" damping="0"/>
      <joint name="rooty" axis="0 1 0" type="hinge" limited="false" armature="0" damping="0"/>
      <geom name="torso" size="0.07 0.3"/>
      <body name="right_thigh" pos="0 -.05 -0.3">
        <joint name="right_hip" range="-20 100"/>
        <geom name="right_thigh" pos="0 0 -0.225" size="0.05 0.225"/>
        <body name="right_leg" pos="0 0 -0.7">
          <joint name="right_knee" pos="0 0 0.25" range="-150 0"/>
          <geom name="right_leg" size="0.04 0.25"/>
          <body name="right_foot" pos="0.06 0 -0.25">
            <joint name="right_ankle" pos="-0.06 0 0" range="-45 45"/>
            <geom name="right_foot" zaxis="1 0 0" size="0.05 0.1"/>
          </body>
        </body>
      </body>
      <body name="left_thigh" pos="0 .05 -0.3" >
        <joint name="left_hip" range="-20 100"/>
        <geom name="left_thigh" pos="0 0 -0.225" size="0.05 0.225"/>
        <body name="left_leg" pos="0 0 -0.7">
          <joint name="left_knee" pos="0 0 0.25" range="-150 0"/>
          <geom name="left_leg" size="0.04 0.25"/>
          <body name="left_foot" pos="0.06 0 -0.25">
            <joint name="left_ankle" pos="-0.06 0 0" range="-45 45"/>
            <geom name="left_foot" zaxis="1 0 0" size="0.05 0.1"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>

  <sensor>
    <subtreelinvel name="torso_subtreelinvel" body="torso"/>
  </sensor>

  <actuator>
    <motor name="right_hip" joint="right_hip" gear="100"/>
    <motor name="right_knee" joint="right_knee" gear="50"/>
    <motor name="right_ankle" joint="right_ankle" gear="20"/>
    <motor name="left_hip" joint="left_hip" gear="100"/>
    <motor name="left_knee" joint="left_knee" gear="50"/>
    <motor name="left_ankle" joint="left_ankle" gear="20"/>
  </actuator>
</mujoco>
