<mujoco model="bipedal">
  <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="2.5 0.1 0.1" rgba="0.8 0.6 .4 1"/>
  </default>
  <option integrator="RK4" timestep="0.002"/>
  <asset>
        <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
            width="30" height="30"/>
        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
        <texture builtin="checker" height="30" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="30"/>
        <material name="MatPlane" reflectance="0.274" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
  </asset>
  <worldbody>
    <light cutoff="30" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane" material="MatPlane"/>

    <body name="hip" pos="0 0 1.0">
      <camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.0" stiffness="0" type="hinge"/>
      <!-- <joint axis="0 -1 0" name="hip_joint" pos="0 0 1.0" range="-90 90" type="hinge"/> -->
      <geom friction="0.9" name="hip_geom" pos="0 0 1.0" size="0.03" type="sphere"/>

      <body name="thigh" pos="0 0 0.6">
        <joint axis="0 -1 0" damping="2" name="thigh_joint" pos="0 0 1.0" range="-90 90" type="hinge"/>
        <geom friction="0.9" fromto="0 0 1.0 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>

        <body name="leg" pos="0 0 0.2">
        <joint axis="0 0 -1" name="leg_joint" pos="0 0 0.6" range="-0.1 0.1"  type="slide"/>
        <geom friction="0.9" fromto="0 0 0.8 0 0 0.2" name="leg_geom" size="0.04" type="capsule"/>

          <!-- <body name="foot" pos="0.25 0 0.2"> -->
            <!-- <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.2" range="-50 50" type="hinge"/> -->
            <!-- <geom friction="0.9" fromto="0 0 0.2 0.25 0 0.2" name="foot_geom" size="0.06" type="capsule"/> -->

          <!-- </body> -->
        </body>
      </body>

      <body name="thigh_left" pos="0 0 0.6">
        <joint axis="0 -1 0" damping="2" name="thigh_left_joint" pos="0 0 1.0" range="-90 90" type="hinge"/>
        <geom friction="0.9" fromto="0 0 1.0 0 0 0.6" name="thigh_left_geom" rgba = "0 0 1 1" size="0.05" type="capsule"/>

        <body name="leg_left" pos="0 0 0.2">
        <joint axis="0 0 -1" name="leg_left_joint" pos="0 0 0.6" range="-0.1 0.1"  type="slide"/>
        <geom friction="0.9" fromto="0 0 0.8 0 0 0.2" name="leg_left_geom" rgba = "0 0 1 1" size="0.04" type="capsule"/>

          <!-- <body name="foot" pos="0.25 0 0.2"> -->
            <!-- <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.2" range="-50 50" type="hinge"/> -->
            <!-- <geom friction="0.9" fromto="0 0 0.2 0.25 0 0.2" name="foot_geom" size="0.06" type="capsule"/> -->

          <!-- </body> -->
        </body>
      </body>

    </body>
  </worldbody>

  <actuator>
    <motor joint = "thigh_joint" ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" name = "right"/>
    <motor joint = "thigh_left_joint" ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" name = "left"/>
    <motor joint = "leg_joint" ctrllimited="true" ctrlrange="-1.0 1.0" gear="250" name = "slide"/>
    <motor joint = "leg_left_joint" ctrllimited="true" ctrlrange="-1.0 1.0" gear="250" name = "slide_2"/>
  </actuator>

</mujoco>
