<?xml version="1.0" encoding="utf-8"?>
<mujoco model="hopper">
	<compiler angle="degree" coordinate="global" inertiafromgeom="true"></compiler>
	<default>
		<joint armature="1" damping="0.8192757023544976" limited="true"></joint>
		<geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.6881518018146249 0.0737705936537806 0.10408865171249762" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"></geom>
		<motor ctrllimited="true" ctrlrange="-.4 .4"></motor>
	</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="ignore1" pos="0 0 0" stiffness="0.0" type="slide"></joint>
			<joint armature="0" axis="0 0 1" damping="0.0" limited="false" name="ignore2" 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="ignore3" pos="0 0 0" stiffness="0.0" type="hinge"></joint>
			<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.048958461983624246" 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="0.039406444744811225" 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="0.042017181083007886" 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="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06038960571829455" type="capsule"></geom>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"></motor>
	</actuator>
</mujoco>