<?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="0.008343935573842576" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8.367025689996531"></joint>
		<geom conaffinity="0" condim="3" contype="1" friction="0.31546535001073095 0.10149326522208253 0.1141770781487082" 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>
	<asset>
		<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"></texture>
		<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>
		<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"></texture>
		<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"></material>
		<material name="geom" texture="texgeom" texuniform="true"></material>
	</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"></light>
		<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="31.65629865617892 36.85460841232833 49.437748490792345" type="plane"></geom>
		<body name="torso" pos="0 0 .7">
			<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"></camera>
			<joint armature="0" axis="1 0 0" damping="0.0" limited="false" name="rootx" pos="0 0 0" stiffness="0.0" type="slide"></joint>
			<joint armature="0" axis="0 0 1" damping="0.0" limited="false" name="rootz" pos="0 0 0" stiffness="0.0" type="slide"></joint>
			<joint armature="0" axis="0 1 0" damping="0.0" limited="false" name="rooty" pos="0 0 0" stiffness="0.0" type="hinge"></joint>
			<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.041921413371150656" type="capsule"></geom>
			<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.041662349414488715 0.14572237893293544" type="capsule"></geom>
			<body name="bthigh" pos="-.5 0 0">
				<joint axis="0 1 0" damping="6.187801664120073" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="301.20816318072866" type="hinge"></joint>
				<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.059427557260668375 0.1641981250381166" type="capsule"></geom>
				<body name="bshin" pos=".16 0 -.25">
					<joint axis="0 1 0" damping="4.22460956639481" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="159.22023243957892" 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="0.05695179671100637 0.17007217704794977" type="capsule"></geom>
					<body name="bfoot" pos="-.28 0 -.14">
						<joint axis="0 1 0" damping="2.3669796713762072" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="129.6364421996378" type="hinge"></joint>
						<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.033620229200091445 0.09747444203641609" type="capsule"></geom>
					</body>
				</body>
			</body>
			<body name="fthigh" pos=".5 0 0">
				<joint axis="0 1 0" damping="4.04423960079369" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="230.0071105690389" type="hinge"></joint>
				<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.049050047839804455 0.16632711367158634" type="capsule"></geom>
				<body name="fshin" pos="-.14 0 -.24">
					<joint axis="0 1 0" damping="2.4675482087113156" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="111.01759604284949" type="hinge"></joint>
					<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.053898076784014946 0.11051235689900266" type="capsule"></geom>
					<body name="ffoot" pos=".13 0 -.18">
						<joint axis="0 1 0" damping="1.801014513988585" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="76.96358159426104" type="hinge"></joint>
						<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.038638295026846174 0.07691145710358575" type="capsule"></geom>
					</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>