<mujoco model="hopper">
  <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" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1" />
    <motor ctrllimited="true" ctrlrange="-.4 .4" />
  </default>
  <option integrator="RK4" timestep="0.002" />
  <worldbody>
    
    <body name="torso">
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide" />
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide" />
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge" />
      <geom fromto="0 0 5.45 0 0 5.05" name="torso_geom" size="0.05" type="capsule" />
      <body name="thigh">
        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 5.05" range="-150 0" type="hinge" size="0.05" />
        <geom fromto="0 0 5.05 0 0 4.6" name="thigh_geom" size="0.05" type="capsule" />
        <body name="leg">
          <joint axis="0 -1 0" name="leg_joint" pos="0 0 4.6" range="-150 0" type="hinge" />
          <geom fromto="0 0 4.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule" />
          <body name="foot">
            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge" />
            <geom fromto="-0.2 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule" pos="0 0 0.1" />
          </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>