<!-- Cheetah Model

    The state space is populated with joints in the order that they are
    defined in this file. The actuators also operate on joints.

    State-Space (name/joint/parameter):
        - rootx     slider      position (m)
        - rootz     slider      position (m)
        - rooty     hinge       angle (rad)
        - bthigh    hinge       angle (rad)
        - bshin     hinge       angle (rad)
        - bfoot     hinge       angle (rad)
        - fthigh    hinge       angle (rad)
        - fshin     hinge       angle (rad)
        - ffoot     hinge       angle (rad)
        - rootx     slider      velocity (m/s)
        - rootz     slider      velocity (m/s)
        - rooty     hinge       angular velocity (rad/s)
        - bthigh    hinge       angular velocity (rad/s)
        - bshin     hinge       angular velocity (rad/s)
        - bfoot     hinge       angular velocity (rad/s)
        - fthigh    hinge       angular velocity (rad/s)
        - fshin     hinge       angular velocity (rad/s)
        - ffoot     hinge       angular velocity (rad/s)

    Actuators (name/actuator/parameter):
        - bthigh    hinge       torque (N m)
        - bshin     hinge       torque (N m)
        - bfoot     hinge       torque (N m)
        - fthigh    hinge       torque (N m)
        - fshin     hinge       torque (N m)
        - ffoot     hinge       torque (N m)

-->
<mujoco model="cheetah">
  <include file="../../misc/skybox.xml" />
  <include file="../../misc/visual.xml" />
  <include file="../../misc/materials.xml" />
  <compiler angle="radian" coordinate="local" 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=".4 .1 .1" solimp="0.0 0.8 0.01" solref="0.02 1" material="self"/>
    <motor ctrllimited="true" ctrlrange="-1 1"/>
  </default>
  <size nstack="300000" nuser_geom="1"/>
  <option gravity="0 0 -9.81" timestep="0.01"/>
  <worldbody>
    <light cutoff="100" diffuse="1 1 1" dir="-1 -0 -1.5" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <!-- <geom conaffinity="1" condim="3" material="grid" name="floor" pos="0 0 0" size="40 40 40" type="plane"/> -->
    <body name="torso">
      <camera mode="trackcom" name="tilted" pos="2.9 3.2 0.3" xyaxes="1 -.9 0 0 0 -1" />
      <camera name="track" mode="trackcom" pos="0 3 0.3" xyaxes="1 0 0 0 0 -1"/>
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore_rootx" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore_rootz" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore_rooty" pos="0 0 0" stiffness="0" type="hinge"/>
      <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
      <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
      <!-- <site name='tip'  pos='.15 0 .11'/>-->
      <body name="fthigh">
        <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
        <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor gear="120" joint="fthigh" name="fthigh"/>
  </actuator>
</mujoco>
