<!-- converted to geom fromto version -->
<mujoco model="cheetah">
  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
  <default>
    <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
    <geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
    <motor ctrllimited="true" ctrlrange="-1 1"/>
  </default>
  <size nstack="300000" nuser_geom="1"/>
  <option gravity="0 0 -9.81" timestep="0.01"/>
  <worldbody>
    <body name="torso" pos="0 0 $height">
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
      <geom fromto="$torso_posterior 0 0 $torso_anterior 0 0" name="torso" size="$torso_thickness" type="capsule"/>
      <geom fromto="$torso_anterior 0 0 $neck_x 0 $head_z" name="head" size="$head_thickness" type="capsule"/>
      <body name="bthigh" pos="$torso_posterior 0 0">
        <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-30 60" stiffness="240" type="hinge"/>
        <geom fromto="0 0 0 $bthigh_x 0 $bthigh_z" size="$bthigh_thickness" type="capsule"/>
        <body name="bshin" pos="$bthigh_x 0 $bthigh_z">
          <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-45 45" stiffness="180" type="hinge"/>
          <geom fromto="0 0 0 $bshin_x 0 $bshin_z" size="$bshin_thickness" type="capsule"/>
          <body name="bfoot" pos="$bshin_x 0 $bshin_z">
            <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="23 45" stiffness="120" type="hinge"/>
            <geom fromto="0 0 0 $bfoot_x 0 $bfoot_z" size="$bfoot_thickness" type="capsule"/>
          </body>
        </body>
      </body>
      <body name="fthigh" pos="$torso_anterior 0 0">
        <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-86 45" stiffness="180" type="hinge"/>
        <geom fromto="0 0 0 $fthigh_x 0 $fthigh_z" name="fthigh" size="$fthigh_thickness" type="capsule"/>
        <body name="fshin" pos="$fthigh_x 0 $fthigh_z">
          <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-69 63" stiffness="120" type="hinge"/>
          <geom fromto="0 0 0 $fshin_x 0 $fshin_z" name="fshin" rgba="0.9 0.6 0.6 1" size="$fshin_thickness" type="capsule"/>
          <body name="ffoot" pos="$fshin_x 0 $fshin_z">
            <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-177 -17" stiffness="60" type="hinge"/>
            <geom fromto="0 0 0 $ffoot_x 0 $ffoot_z" name="ffoot" rgba="0.9 0.6 0.6 1" size="$ffoot_thickness" type="capsule"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor gear="120" joint="bthigh" name="bthigh"/>
    <motor gear="90" joint="bshin" name="bshin"/>
    <motor gear="60" joint="bfoot" name="bfoot"/>
    <motor gear="120" joint="fthigh" name="fthigh"/>
    <motor gear="60" joint="fshin" name="fshin"/>
    <motor gear="30" joint="ffoot" name="ffoot"/>
  </actuator>
</mujoco>
