<mujoco model="cheetah">
  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
  <default>
    <joint armature="0.01" damping=".1" limited="true"/>
    <geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" rgba="0.8 0.6 .4 1"/>
  </default>
  <option integrator="RK4" timestep="0.002"/>

  <asset>
    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
    <material name="geom" texture="texgeom" texuniform="true"/>
  </asset>

  <worldbody>
    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>


    <body name="torso" pos="0 0 1.25">
      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>

      <geom fromto="-.5 0 1.05 .5 0 1.05" name="torso" size="0.046" type="capsule" density="500"/>

      <geom fromto=".5 0 1.05 .7 0 1.25" name="neck" size="0.046" type="capsule" density="500"/>
      <geom fromto=".7 0 1.25 .8 0 1.15" name="head" size="0.046" type="capsule" density="500"/>
      <geom fromto=".5 -0.1 1.05 .5 0.1 1.05" name="torsoFront" size="0.046" type="capsule" density="500"/>
      <geom fromto="-.5 -0.1 1.05 -.5 0.1 1.05" name="torsoBack" size="0.046" type="capsule" density="500"/>

      <site name="front" pos="-.5 0 1.05" size="0.08 0.08" rgba="0.8 0.6 .4 1"/>
      <site name="back" pos=".5 0 1.05" size="0.08 0.08" rgba="0.8 0.6 .4 1"/>

      <body name="thigh_1" pos="0.5 0.1 1.05">
        <joint axis="0 -1 0" name="thighjoint_1" pos="0.5 0.1 1.05" range="-50 50" type="hinge"/>
        <geom friction="0.9" fromto="0.5 0.1 1.05 0.5 0.1 0.6" name="thighgeom_1" size="0.05" type="capsule"/>
        <body name="leg_1" pos="0.5 0.1 0.35">
          <joint axis="0 -1 0" name="legjoint_1" pos="0.5 0.1 0.6" range="-150 0" type="hinge"/>
          <geom friction="0.9" fromto="0.5 0.1 0.6 0.5 0.1 0.1" name="leggeom_1" size="0.04" type="capsule"/>
          <body name="foot_1" pos="0.565 0.1 0.1">
            <joint axis="0 -1 0" name="footjoint_1" pos="0.5 0.1 0.1" range="-45 45" type="hinge"/>
            <geom friction="2.0" fromto="0.37 0.1 0.1 0.76 0.1 0.1" name="footgeom_1" size="0.06" type="capsule"/>
          </body>
        </body>
      </body>

      <body name="thigh_2" pos="0.5 -0.1 1.05">
        <joint axis="0 -1 0" name="thighjoint_2" pos="0.5 -0.1 1.05" range="-50 50" type="hinge"/>
        <geom friction="0.9" fromto="0.5 -0.1 1.05 0.5 -0.1 0.6" name="thighgeom_2" size="0.05" type="capsule"/>
        <body name="leg_2" pos="0.5 -0.1 0.35">
          <joint axis="0 -1 0" name="legjoint_2" pos="0.5 -0.1 0.6" range="-150 0" type="hinge"/>
          <geom friction="0.9" fromto="0.5 -0.1 0.6 0.5 -0.1 0.1" name="leggeom_2" size="0.04" type="capsule"/>
          <body name="foot_2" pos="0.565 -0.1 0.1">
            <joint axis="0 -1 0" name="footjoint_2" pos="0.5 -0.1 0.1" range="-45 45" type="hinge"/>
            <geom friction="2.0" fromto="0.37 -0.1 0.1 0.76 -0.1 0.1" name="footgeom_2" size="0.06" type="capsule"/>
          </body>
        </body>
      </body>

      <body name="thigh_3" pos="-0.5 0.1 1.05">
        <joint axis="0 -1 0" name="thighjoint_3" pos="-0.5 0.1 1.05" range="-50 50" type="hinge"/>
        <geom friction="0.9" fromto="-0.5 0.1 1.05 -0.5 0.1 0.6" name="thighgeom_3" size="0.05" type="capsule"/>
        <body name="leg_3" pos="-0.5 0.1 0.35">
          <joint axis="0 -1 0" name="legjoint_3" pos="-0.5 0.1 0.6" range="-150 0" type="hinge"/>
          <geom friction="0.9" fromto="-0.5 0.1 0.6 -0.5 0.1 0.1" name="leggeom_3" size="0.04" type="capsule"/>
          <body name="foot_3" pos="-0.435 0.1 0.1">
            <joint axis="0 -1 0" name="footjoint_3" pos="-0.5 0.1 0.1" range="-45 45" type="hinge"/>
            <geom friction="2.0" fromto="-0.63 0.1 0.1 -0.24 0.1 0.1" name="footgeom_3" size="0.06" type="capsule"/>
          </body>
        </body>
      </body>

      <body name="thigh_4" pos="-0.5 -0.1 1.05">
        <joint axis="0 -1 0" name="thighjoint_4" pos="-0.5 -0.1 1.05" range="-50 50" type="hinge"/>
        <geom friction="0.9" fromto="-0.5 -0.1 1.05 -0.5 -0.1 0.6" name="thighgeom_4" size="0.05" type="capsule"/>
        <body name="leg_4" pos="-0.5 -0.1 0.35">
          <joint axis="0 -1 0" name="legjoint_4" pos="-0.5 -0.1 0.6" range="-150 0" type="hinge"/>
          <geom friction="0.9" fromto="-0.5 -0.1 0.6 -0.5 -0.1 0.1" name="leggeom_4" size="0.04" type="capsule"/>
          <body name="foot_4" pos="-0.435 -0.1 0.1">
            <joint axis="0 -1 0" name="footjoint_4" pos="-0.5 -0.1 0.1" range="-45 45" type="hinge"/>
            <geom friction="2.0" fromto="-0.63 -0.1 0.1 -0.24 -0.1 0.1" name="footgeom_4" size="0.06" type="capsule"/>
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="thighjoint_1"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="legjoint_1"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="footjoint_1"/>
    
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="thighjoint_2"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="legjoint_2"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="footjoint_2"/>

    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="thighjoint_3"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="legjoint_3"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="footjoint_3"/>
    
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="thighjoint_4"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="legjoint_4"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="70" joint="footjoint_4"/>
  </actuator>
</mujoco>
