<?xml version="1.0" encoding="utf-8"?>
<mujoco model="hopper">
	<compiler angle="degree" coordinate="global" inertiafromgeom="true"></compiler>
	<default>
		<joint armature="1" damping="1.0318605116886528" limited="true"></joint>
		<geom conaffinity="1" condim="1" contype="1" margin="0.001" 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>
	<visual>
		<map znear="0.02"></map>
	</visual>
	<worldbody>
		<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"></light>
		<geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20.630205795143517 19.179956741258742 0.12763029216641078" type="plane" material="MatPlane"></geom>
		<body name="torso" pos="0 0 1.25">
			<camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"></camera>
			<joint armature="0" axis="1 0 0" damping="0.0" limited="false" name="rootx" pos="0 0 0" stiffness="0.0" type="slide"></joint>
			<joint armature="0" axis="0 0 1" damping="0.0" limited="false" name="rootz" 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="rooty" pos="0 0 1.25" stiffness="0.0" type="hinge"></joint>
			<geom friction="0.929741509638018" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.048496892534468705" type="capsule"></geom>
			<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"></joint>
				<geom friction="0.8945936940013582" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.04952902706455269" type="capsule"></geom>
				<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"></joint>
					<geom friction="0.9400524113605084" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04157076027545191" type="capsule"></geom>
					<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"></joint>
						<geom friction="1.9107006365119807" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.0614514533143994" 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>
	<asset>
		<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" width="100" height="100"></texture>
		<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"></texture>
		<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"></texture>
		<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"></material>
		<material name="geom" texture="texgeom" texuniform="true"></material>
	</asset>
</mujoco>