<?xml version="1.0" encoding="utf-8"?>
<mujoco model="ant">
	<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
	<option integrator="RK4" timestep="0.01"/>
	<size nconmax="500" njmax="1000"/>
	<custom>
		<numeric name="init_qpos" data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0"/>
	</custom>
	<default>
		<joint armature="1" damping="1" limited="true"/>
		<geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
	</default>
	<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="0.1 0.1 0.1"/>
		<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_ant_0_0" pos="0.0 0.0 0.75">
			<camera mode="trackcom" name="track_ant_0_0" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
			<geom name="torso_geom_ant_0_0" pos="0 0 0" size="0.25" type="sphere"/>
			<joint armature="0" damping="0" limited="false" margin="0.01" name="root_ant_0_0" pos="0 0 0" type="free"/>
			<body name="front_right_leg_ant_0_0" pos="0 0 0" euler="0 0 0.0">
				<geom fromto="0 0 0 0.2 0 0" name="hip_geom_front_right_leg_ant_0_0" size="0.08" type="capsule"/>
				<site name="left_flex_hip_insertion_front_right_leg_ant_0_0" pos="0.020000000000000004 0.08 0.0" size="0.04"/>
				<site name="right_flex_hip_insertion_front_right_leg_ant_0_0" pos="0.020000000000000004 -0.08 0.0" size="0.04"/>
				<geom fromto="0.2 0.0 0.08 0.2 0.0 -0.08" name="hip_joint_geom_front_right_leg_ant_0_0" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
				<body name="thigh_body_front_right_leg_ant_0_0" pos="0.2 0 0">
					<joint axis="0 0 1" name="hip_joint_front_right_leg_ant_0_0" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geom_front_right_leg_ant_0_0" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertion_front_right_leg_ant_0_0" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertion_front_right_leg_ant_0_0" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertion_front_right_leg_ant_0_0" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertion_front_right_leg_ant_0_0" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geom_front_right_leg_ant_0_0" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_side_front_right_leg_ant_0_0" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_body_front_right_leg_ant_0_0" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_joint_front_right_leg_ant_0_0" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geom_front_right_leg_ant_0_0" size="0.08" type="capsule"/>
						<site name="quad_l_insertion_front_right_leg_ant_0_0" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertion_front_right_leg_ant_0_0" pos="0.12 0.0 -0.08" size="0.04"/>
					</body>
				</body>
			</body>
			<body name="front_left_leg_ant_0_0" pos="0 0 0" euler="0 0 90">
				<geom fromto="0 0 0 0.2 0 0" name="hip_geom_front_left_leg_ant_0_0" size="0.08" type="capsule"/>
				<site name="left_flex_hip_insertion_front_left_leg_ant_0_0" pos="0.020000000000000004 0.08 0.0" size="0.04"/>
				<site name="right_flex_hip_insertion_front_left_leg_ant_0_0" pos="0.020000000000000004 -0.08 0.0" size="0.04"/>
				<geom fromto="0.2 0.0 0.08 0.2 0.0 -0.08" name="hip_joint_geom_front_left_leg_ant_0_0" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
				<body name="thigh_body_front_left_leg_ant_0_0" pos="0.2 0 0">
					<joint axis="0 0 1" name="hip_joint_front_left_leg_ant_0_0" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geom_front_left_leg_ant_0_0" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertion_front_left_leg_ant_0_0" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertion_front_left_leg_ant_0_0" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertion_front_left_leg_ant_0_0" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertion_front_left_leg_ant_0_0" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geom_front_left_leg_ant_0_0" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_side_front_left_leg_ant_0_0" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_body_front_left_leg_ant_0_0" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_joint_front_left_leg_ant_0_0" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geom_front_left_leg_ant_0_0" size="0.08" type="capsule"/>
						<site name="quad_l_insertion_front_left_leg_ant_0_0" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertion_front_left_leg_ant_0_0" pos="0.12 0.0 -0.08" size="0.04"/>
					</body>
				</body>
			</body>
			<body name="back_left_leg_ant_0_0" pos="0 0 0" euler="0 0 180">
				<geom fromto="0 0 0 0.2 0 0" name="hip_geom_back_left_leg_ant_0_0" size="0.08" type="capsule"/>
				<site name="left_flex_hip_insertion_back_left_leg_ant_0_0" pos="0.020000000000000004 0.08 0.0" size="0.04"/>
				<site name="right_flex_hip_insertion_back_left_leg_ant_0_0" pos="0.020000000000000004 -0.08 0.0" size="0.04"/>
				<geom fromto="0.2 0.0 0.08 0.2 0.0 -0.08" name="hip_joint_geom_back_left_leg_ant_0_0" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
				<body name="thigh_body_back_left_leg_ant_0_0" pos="0.2 0 0">
					<joint axis="0 0 1" name="hip_joint_back_left_leg_ant_0_0" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geom_back_left_leg_ant_0_0" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertion_back_left_leg_ant_0_0" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertion_back_left_leg_ant_0_0" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertion_back_left_leg_ant_0_0" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertion_back_left_leg_ant_0_0" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geom_back_left_leg_ant_0_0" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_side_back_left_leg_ant_0_0" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_body_back_left_leg_ant_0_0" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_joint_back_left_leg_ant_0_0" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geom_back_left_leg_ant_0_0" size="0.08" type="capsule"/>
						<site name="quad_l_insertion_back_left_leg_ant_0_0" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertion_back_left_leg_ant_0_0" pos="0.12 0.0 -0.08" size="0.04"/>
					</body>
				</body>
			</body>
			<body name="back_right_leg_ant_0_0" pos="0 0 0" euler="0 0 270">
				<geom fromto="0 0 0 0.2 0 0" name="hip_geom_back_right_leg_ant_0_0" size="0.08" type="capsule"/>
				<site name="left_flex_hip_insertion_back_right_leg_ant_0_0" pos="0.020000000000000004 0.08 0.0" size="0.04"/>
				<site name="right_flex_hip_insertion_back_right_leg_ant_0_0" pos="0.020000000000000004 -0.08 0.0" size="0.04"/>
				<geom fromto="0.2 0.0 0.08 0.2 0.0 -0.08" name="hip_joint_geom_back_right_leg_ant_0_0" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
				<body name="thigh_body_back_right_leg_ant_0_0" pos="0.2 0 0">
					<joint axis="0 0 1" name="hip_joint_back_right_leg_ant_0_0" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
					<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="thigh_geom_back_right_leg_ant_0_0" size="0.08" type="capsule"/>
					<site name="left_flex_thigh_insertion_back_right_leg_ant_0_0" pos="0.32000000000000006 0.08 0.0" size="0.04"/>
					<site name="right_flex_thigh_insertion_back_right_leg_ant_0_0" pos="0.32000000000000006 -0.08 0.0" size="0.04"/>
					<site name="quad_u_insertion_back_right_leg_ant_0_0" pos="0.12 0.0 0.08" size="0.04"/>
					<site name="hamstring_u_insertion_back_right_leg_ant_0_0" pos="0.12 0.0 -0.08" size="0.04"/>
					<geom fromto="0.4 0.08 0.0 0.4 -0.08 0.0" name="knee_geom_back_right_leg_ant_0_0" rgba="0.3 0.9 0.3 0.4" size="0.08800000000000001" type="cylinder"/>
					<site name="knee_top_side_back_right_leg_ant_0_0" pos="0.4 0.0 0.16" size="0.04"/>
					<body name="shin_body_back_right_leg_ant_0_0" pos="0.4 0.0 0">
						<joint axis="0 1 0" name="knee_joint_back_right_leg_ant_0_0" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
						<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="shin_geom_back_right_leg_ant_0_0" size="0.08" type="capsule"/>
						<site name="quad_l_insertion_back_right_leg_ant_0_0" pos="0.12 0.0 0.08" size="0.04"/>
						<site name="hamstring_l_insertion_back_right_leg_ant_0_0" pos="0.12 0.0 -0.08" size="0.04"/>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
	<tendon>
		<spatial name="left_hip_flex_front_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertion_front_right_leg_ant_0_0"/>
			<geom geom="hip_joint_geom_front_right_leg_ant_0_0"/>
			<site site="left_flex_thigh_insertion_front_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="right_hip_flex_front_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertion_front_right_leg_ant_0_0"/>
			<geom geom="hip_joint_geom_front_right_leg_ant_0_0"/>
			<site site="right_flex_thigh_insertion_front_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="quad_front_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertion_front_right_leg_ant_0_0"/>
			<geom geom="knee_geom_front_right_leg_ant_0_0" sidesite="knee_top_side_front_right_leg_ant_0_0"/>
			<site site="quad_l_insertion_front_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="hamstring_front_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertion_front_right_leg_ant_0_0"/>
			<geom geom="knee_geom_front_right_leg_ant_0_0"/>
			<site site="hamstring_l_insertion_front_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="left_hip_flex_front_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertion_front_left_leg_ant_0_0"/>
			<geom geom="hip_joint_geom_front_left_leg_ant_0_0"/>
			<site site="left_flex_thigh_insertion_front_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="right_hip_flex_front_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertion_front_left_leg_ant_0_0"/>
			<geom geom="hip_joint_geom_front_left_leg_ant_0_0"/>
			<site site="right_flex_thigh_insertion_front_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="quad_front_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertion_front_left_leg_ant_0_0"/>
			<geom geom="knee_geom_front_left_leg_ant_0_0" sidesite="knee_top_side_front_left_leg_ant_0_0"/>
			<site site="quad_l_insertion_front_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="hamstring_front_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertion_front_left_leg_ant_0_0"/>
			<geom geom="knee_geom_front_left_leg_ant_0_0"/>
			<site site="hamstring_l_insertion_front_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="left_hip_flex_back_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertion_back_left_leg_ant_0_0"/>
			<geom geom="hip_joint_geom_back_left_leg_ant_0_0"/>
			<site site="left_flex_thigh_insertion_back_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="right_hip_flex_back_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertion_back_left_leg_ant_0_0"/>
			<geom geom="hip_joint_geom_back_left_leg_ant_0_0"/>
			<site site="right_flex_thigh_insertion_back_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="quad_back_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertion_back_left_leg_ant_0_0"/>
			<geom geom="knee_geom_back_left_leg_ant_0_0" sidesite="knee_top_side_back_left_leg_ant_0_0"/>
			<site site="quad_l_insertion_back_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="hamstring_back_left_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertion_back_left_leg_ant_0_0"/>
			<geom geom="knee_geom_back_left_leg_ant_0_0"/>
			<site site="hamstring_l_insertion_back_left_leg_ant_0_0"/>
		</spatial>
		<spatial name="left_hip_flex_back_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="left_flex_hip_insertion_back_right_leg_ant_0_0"/>
			<geom geom="hip_joint_geom_back_right_leg_ant_0_0"/>
			<site site="left_flex_thigh_insertion_back_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="right_hip_flex_back_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="right_flex_hip_insertion_back_right_leg_ant_0_0"/>
			<geom geom="hip_joint_geom_back_right_leg_ant_0_0"/>
			<site site="right_flex_thigh_insertion_back_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="quad_back_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="quad_u_insertion_back_right_leg_ant_0_0"/>
			<geom geom="knee_geom_back_right_leg_ant_0_0" sidesite="knee_top_side_back_right_leg_ant_0_0"/>
			<site site="quad_l_insertion_back_right_leg_ant_0_0"/>
		</spatial>
		<spatial name="hamstring_back_right_leg_ant_0_0" rgba="0.95 0.3 0.3 1" stiffness="1000" width="0.04">
			<site site="hamstring_u_insertion_back_right_leg_ant_0_0"/>
			<geom geom="knee_geom_back_right_leg_ant_0_0"/>
			<site site="hamstring_l_insertion_back_right_leg_ant_0_0"/>
		</spatial>
	</tendon>
</mujoco>