<mujoco model="hopper">
  <compiler inertiafromgeom="true" angle="degree" coordinate="global"/>
  <option timestep="0.02" remotecontact="true" expdist="25.0"/>
  <default>
   <joint islimited='true' damping='.1' armature='0.2'  compliance='0.01' timeconst='0.01'/>
   <geom contype='1' conaffinity='0' condim='3' friction='.7 .1 .1' rgba='0.8 0.6 .4 1' density='1000' mindist='0.1' compliance='0.01'  timeconst='0.01'/>


 </default>

 <body>
  <geom name='floor' pos='0 0 0' size='40 40 40' type='plane' conaffinity='1'  rgba='0.8 0.9 0.8 1' condim='3'/>

  <body name="torso" pos="0 0 1.25">
    <joint name='rootz' type='slide' axis='0 0 1' pos='0 0 0' islimited='false' damping='0' armature='0' stiffness='0' ref="1.25"/>
    <joint name='rootx' type='slide' axis='1 0 0' pos='0 0 0' islimited='false' damping='0' armature='0' stiffness='0'/>
    <joint name='rooty' type='hinge' axis='0 1 0' pos='0 0 1.25' islimited='false' damping='0' armature='0' stiffness='0'/>

    <geom name="torso_geom" type="capsule" fromto="0 0 1.45 0 0 1.05" size="0.05" friction="0.9"/>
    <body name="thigh" pos="0 0 1.05">
      <joint name="thigh_joint" type="hinge" pos="0 0 1.05" axis="0 -1 0" range="-150 0"/>
      <geom name="thigh_geom" type="capsule" fromto="0 0 1.05 0 0 0.6" size="0.05" friction="0.9"/>
      <body name="leg" pos="0 0 0.35">
        <joint name="leg_joint" type="hinge" pos="0 0 0.6" axis="0 -1 0" range="-150 0"/>
        <geom name="leg_geom" type="capsule" fromto="0 0 0.6 0 0 0.1" size="0.04" friction="0.9"/>
        <body name="foot" pos="0.13/2 0 0.1">

          <joint  name="foot_joint" type="hinge" pos="0 0 0.1" axis="0 -1 0" range="-45 45"/>

          <geom name="foot_geom" type="capsule" fromto="-0.13 0 0.1 0.26 0 0.1" size="0.06" friction="0.9"/>
        </body>
      </body>          
    </body>
  </body>
</body>

<actuator>
  <!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/> -->
  <motor joint="thigh_joint" ctrlrange="-200.0 200.0" isctrllimited="true"/>
  <motor joint="leg_joint" ctrlrange="-200.0 200.0" isctrllimited="true"/>
  <motor joint="foot_joint" ctrlrange="-200.0 200.0" isctrllimited="true"/>
  <!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/> -->
</actuator>


</mujoco>