<!-- converted to geom fromto version -->
<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>
      <!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
      Interpretation of body pos="" depends on coordinate="global" above.
      Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
      After this change, Hopper still loads and works in MuJoCo simulator.
      -->
      <body name="torso" pos="0 0 1.45">
        <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 0 0 0 -.3" name="torso_geom" size="0.05" type="capsule"/>
        <body name="thigh" pos="0 0 -.3">
          <joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 0" type="hinge"/>
          <geom fromto="0 0 0 0 0 -.45" name="thigh_geom" size="0.05" type="capsule"/>
          <body name="leg" pos="0 0 -.45">
            <joint axis="0 -1 0" name="leg_joint" pos="0 0 0" range="-150 0" type="hinge"/>
            <geom fromto="0 0 0 0 0 -.5" name="leg_geom" size="0.04" type="capsule"/>
            <body name="foot" pos="0 0 -.5">
              <joint axis="0 -1 0" name="foot_joint" pos="0 0 0" range="-45 45" type="hinge"/>
              <geom fromto="-0.13 0 0 0.26 0 0" 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>
