JointConfigurable hip = new JointConfigurable(getWorld());
    hip.attach(torsoBody, thighBody);
    hip.setAnchor1(new Vector3(sign * TORSO_RADIUS, TORSO_LENGTH/2, 0)); //relative to torso center
    hip.setAnchor2(new Vector3(sign * THIGH_WIDTH, -THIGH_WIDTH/2, THIGH_LENGTH/2)); //relative to thigh center
    
    hip.angularConstraints[0] = JointConfigurable.MOTOR_CONSTRAINT; //X, Pitch has motor
    hip.angularConstraints[1] = JointConfigurable.UNBOUNDED_CONSTRAINT; //Y, Yaw is unbounded
    hip.angularConstraints[2] = JointConfigurable.MOTOR_CONSTRAINT; //Z, Roll has motor