<mujoco model="hopper">
  <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="1" damping="1" limited="true"/>
    <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="self" solimp=".8 .8 .01" solref=".02 1"/>
    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
  </default>
  <option integrator="RK4" timestep="0.002"/>
  <visual>
    <map znear="0.02"/>
  </visual>
  <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"/>
    <geom conaffinity="1" condim="3" name="floor" pos="0 0 0" size="20 20 .125" type="plane" material="grid"/>
    <body name="torso" pos="0 0 1.25">
      <camera mode="trackcom" name="tilted" pos="2.7 3 1" xyaxes="1 -.9 0 0 0 -1" />
      <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="1.25" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
      <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
      <body name="thigh" pos="0 0 1.05">
        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
        <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
        <body name="leg" pos="0 0 0.35">
          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
          <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
          <body name="foot" pos="0.13/2 0 0.1">
            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
            <geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
  </actuator>
</mujoco>
