<?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="0.010757135366172451" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8.165268024854846"></joint>
		<geom conaffinity="0" condim="3" contype="1" friction="0.7943187802965519 0.10991784943575283 0.10382010464547352" 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="0.049525581792336744" type="capsule"></geom>
			<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.04373726419963575 0.15376245640529815" type="capsule"></geom>
			<body name="bthigh" pos="-.5 0 0">
				<joint axis="0 1 0" damping="5.419141408493461" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="259.9166847011527" type="hinge"></joint>
				<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.04635015933292156 0.15202284351923545" type="capsule"></geom>
				<body name="bshin" pos=".16 0 -.25">
					<joint axis="0 1 0" damping="4.398021971754148" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="186.34457300217386" 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="0.0494415670973845 0.15868007184261748" type="capsule"></geom>
					<body name="bfoot" pos="-.28 0 -.14">
						<joint axis="0 1 0" damping="2.729860400012541" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="125.22001254580289" type="hinge"></joint>
						<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.04521192796839543 0.09472582582169155" type="capsule"></geom>
						<inertial mass="10"></inertial>
					</body>
				</body>
			</body>
			<body name="fthigh" pos=".5 0 0">
				<joint axis="0 1 0" damping="4.8844167829418135" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="184.74929782022198" type="hinge"></joint>
				<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.04185263924654363 0.13053003205205294" type="capsule"></geom>
				<body name="fshin" pos="-.14 0 -.24">
					<joint axis="0 1 0" damping="3.254100693709022" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="111.02554226938055" type="hinge"></joint>
					<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.04739283429905199 0.09624547290163382" type="capsule"></geom>
					<body name="ffoot" pos=".13 0 -.18">
						<joint axis="0 1 0" damping="1.402620576410068" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="56.10187880422282" type="hinge"></joint>
						<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.04668708919608999 0.06529226085941982" 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>