<mujoco model="walker_generic">
   <include file="../../misc/skybox.xml" />
   <include file="../../misc/visual.xml" />
   <include file="../../misc/materials.xml" />
   <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=".7 .1 .1" material="self" />
   </default>
   <option integrator="RK4" timestep="0.002" />
      <actuator>
         <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="left1_joint" />
         <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="left2_joint" />
         <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="left3_joint" />
         <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="right1_joint" />
         <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="right2_joint" />
      </actuator>
      <worldbody>
         <light cutoff="100" diffuse="1 1 1" dir="-1 -0 -1.5" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1" />
<!-- delete floor -->
         <body name="torso" pos="0 0 1.6">
            <camera mode="trackcom" name="tilted" pos="2.7 3 1" xyaxes="1 -.9 0 0 0 -1" />
            <camera mode="trackcom" name="track" pos="0 3 1" xyaxes="1 0 0 0 0 -1" />
            <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 1.25" stiffness="0" type="hinge" />
            <geom friction="0.9" fromto="0 0 1.6 0 0 1.0" name="torso_geom" size="0.07" type="capsule" />
            <body name="left1" pos="0 0 1.0">
               <geom friction="0.9" fromto="0 0 1.0 0 0 0.52" name="left1_geom" size="0.05600000000000001" type="capsule" />
               <joint axis="0 -1 0" name="left1_joint" pos="0 0 1.0" range="-75 75" type="hinge" />
               <body name="left2" pos="0 0 0.52">
                  <geom friction="0.9" fromto="0 0 0.52 0 0 0.136" name="left2_geom" size="0.044800000000000006" type="capsule" />
                  <joint axis="0 -1 0" name="left2_joint" pos="0 0 0.52" range="-75 75" type="hinge" />
                  <body name="left3" pos="0 0 0.136">
                     <geom friction="0.9" fromto="0 0 0.136 0.2 0 0.136" name="left3_geom" size="0.06" type="capsule" />
                     <joint axis="0 -1 0" name="left3_joint" pos="0 0 0.136" range="-75 75" type="hinge" />
         </body>
         </body></body>
         <body name="right1" pos="0 0 1.0">
            <geom friction="0.9" fromto="0 0 1.0 0 0 0.52" name="right1" size="0.05600000000000001" type="capsule" />
            <joint axis="0 -1 0" name="right1_joint" pos="0 0 1.0" range="-75 75" type="hinge" />
            <body name="right2" pos="0 0 0.52">
               <geom friction="0.9" fromto="0 0 0.52 0 0 0.136" name="right2" size="0.044800000000000006" type="capsule" />
               <joint axis="0 -1 0" name="right2_joint" pos="0 0 0.52" range="-75 75" type="hinge" />
         </body>
         </body></body>
      </worldbody>
</mujoco>