<?xml version="1.0" encoding="utf-8"?>
<mujoco model="cheetah">
	<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"></compiler>
	<default>
		<joint armature=".1" damping="0.008226686242807785" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="6.2557126988383285"></joint>
		<geom conaffinity="0" condim="3" contype="1" friction="0.9109417887484214 0.12183896847732215 0.07330619548526836" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"></geom>
		<motor ctrllimited="true" ctrlrange="-1 1"></motor>
	</default>
	<size nstack="300000" nuser_geom="1"></size>
	<option gravity="0 0 -9.81" timestep="0.01"></option>
	<worldbody>
		<body name="torso" pos="0 0 .7">
			<joint armature="0" axis="1 0 0" damping="0.0" limited="false" name="ignorex" pos="0 0 0" stiffness="0.0" type="slide"></joint>
			<joint armature="0" axis="0 0 1" damping="0.0" limited="false" name="ignorez" pos="0 0 0" stiffness="0.0" type="slide"></joint>
			<joint armature="0" axis="0 1 0" damping="0.0" limited="false" name="ignorey" pos="0 0 0" stiffness="0.0" type="hinge"></joint>
			<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.04901616316219318" type="capsule"></geom>
			<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.05580055958377706 0.1844456113746602" type="capsule"></geom>
			<body name="bthigh" pos="-.5 0 0">
				<joint axis="0 1 0" damping="6.242700448709727" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="220.85904668232254" type="hinge"></joint>
				<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.042846638336499654 0.12256537603375482" type="capsule"></geom>
				<body name="bshin" pos=".16 0 -.25">
					<joint axis="0 1 0" damping="3.764898475765889" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="224.81681879592912" type="hinge"></joint>
					<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.04877988748960505 0.15290283854963754" type="capsule"></geom>
					<body name="bfoot" pos="-.28 0 -.14">
						<joint axis="0 1 0" damping="3.2483853139254775" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="98.42623534722526" type="hinge"></joint>
						<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.04671667690218684 0.07431867113232345" type="capsule"></geom>
						<inertial mass="10"></inertial>
					</body>
				</body>
			</body>
			<body name="fthigh" pos=".5 0 0">
				<joint axis="0 1 0" damping="3.857624644155002" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="126.43634777620521" type="hinge"></joint>
				<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.035230829270480324 0.11454601734211949" type="capsule"></geom>
				<body name="fshin" pos="-.14 0 -.24">
					<joint axis="0 1 0" damping="3.0827832662008587" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="127.28014459816275" type="hinge"></joint>
					<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.05548183536929535 0.13102349880154235" type="capsule"></geom>
					<body name="ffoot" pos=".13 0 -.18">
						<joint axis="0 1 0" damping="1.2539315463360132" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="47.989234736691856" type="hinge"></joint>
						<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.04900673985008566 0.08844261264695588" type="capsule"></geom>
						<inertial mass="10"></inertial>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor gear="120" joint="bthigh" name="bthigh"></motor>
		<motor gear="90" joint="bshin" name="bshin"></motor>
		<motor gear="60" joint="bfoot" name="bfoot"></motor>
		<motor gear="120" joint="fthigh" name="fthigh"></motor>
		<motor gear="60" joint="fshin" name="fshin"></motor>
		<motor gear="30" joint="ffoot" name="ffoot"></motor>
	</actuator>
</mujoco>