<!-- converted to geom fromto version -->
<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>
      <body name="torso" pos="0 0 1.62">
        <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 0 0 0 -0.39" name="torso_geom" size="0.05" type="capsule"/>
        <body name="thigh" pos="0 0 -0.39">
          <joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 50" type="hinge"/>
          <geom fromto="0 0 0 0 0 -0.52" name="thigh_geom" size="0.04" type="capsule"/>
          <body name="leg" pos="0 0 -0.52">
            <joint axis="0 -1 0" name="leg_joint" pos="0 0 0" range="-150 0" type="hinge"/>
            <geom fromto="0 0 0 0 0 -0.54" name="leg_geom" size="0.04" type="capsule"/>
            <body name="foot" pos="0 0 -0.54">
              <joint axis="0 -1 0" name="foot_joint" pos="0 0 0" range="-45 45" type="hinge"/>
              <geom fromto="0 0 0 0.18 0 0" name="foot_geom" size="0.04" type="capsule"/>
            </body>
          </body>
        </body>
        <body name="thigh_left" pos="0 0 -0.39">
          <joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 0" range="-150 50" type="hinge"/>
          <geom fromto="0 0 0 0 0 -0.52" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
          <body name="leg_left" pos="0 0 -0.52">
            <joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0" range="-150 0" type="hinge"/>
            <geom fromto="0 0 0 0 0 -0.54" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
            <body name="foot_left" pos="0 0 -0.54">
              <joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0" range="-45 45" type="hinge"/>
              <geom fromto="0 0 0 0.18 0 0" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
            </body>
          </body>
        </body>
      </body>
    </worldbody>
    <actuator>
      <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"/>
    </actuator>
  </mujoco>

