<?xml version="1.0" encoding="utf-8"?>
<mujoco model="walker2d">
	<compiler angle="degree" coordinate="global" inertiafromgeom="true"></compiler>
	<default>
		<joint armature="0.01" damping="0.07011995369581439" limited="true"></joint>
		<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8957657044672905 0.08778843715465716 0.12008366073151122" rgba="0.8 0.6 .4 1"></geom>
	</default>
	<option integrator="RK4" timestep="0.002"></option>
	<worldbody>
		<body name="torso">
			<joint armature="0" axis="1 0 0" damping="0.0" limited="false" name="ignorex" pos="0 0 0" stiffness="0.0" type="slide"></joint>
			<joint armature="0" axis="0 0 1" damping="0.0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0.0" type="slide"></joint>
			<joint armature="0" axis="0 1 0" damping="0.0" limited="false" name="ignorey" pos="0 0 0" stiffness="0.0" type="hinge"></joint>
			<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.06497779544013724" type="capsule"></geom>
			<body name="thigh">
				<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"></joint>
				<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.057417196487335814" type="capsule"></geom>
				<body name="leg">
					<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"></joint>
					<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.03878005683375843" type="capsule"></geom>
					<body name="foot">
						<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"></joint>
						<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.0607868693356811" type="capsule"></geom>
					</body>
				</body>
			</body>
			<body name="thigh_left">
				<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"></joint>
				<geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05394805695214999" type="capsule"></geom>
				<body name="leg_left">
					<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"></joint>
					<geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.0506538377100876" type="capsule"></geom>
					<body name="foot_left">
						<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"></joint>
						<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.05937648007735175" type="capsule"></geom>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"></motor>
	</actuator>
</mujoco>