<mujoco model="ant">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true" />
  <option integrator="RK4" timestep="0.01" />
  <custom>
    <numeric 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" name="init_qpos" />
  </custom>
  <default>
    <joint armature="1" damping="1" limited="true" />
    <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1" />
  </default>
  <worldbody>
    <body name="torso" pos="0 0 0.75">
      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere" />
      
      <body name="front_left_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2938624943508415 0.2938624943508415 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
        <body name="aux_1" pos="0.2938624943508415 0.2938624943508415 0.0">
          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
          <geom fromto="0.0 0.0 0.0 0.17760238237534665 0.17760238237534665 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
          <body pos="0.17760238237534665 0.17760238237534665 0.0" name="front_left_foot">
            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge" />
            <geom fromto="0.0 0.0 0.0 0.36960042250203456 0.36960042250203456 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
          </body>
        </body>
      </body>
      <body name="front_right_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2163806642149984 0.2163806642149984 0.0" name="aux_2_geom" size="0.08" type="capsule" />
        <body name="aux_2" pos="-0.2163806642149984 0.2163806642149984 0.0">
          <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
          <geom fromto="0.0 0.0 0.0 -0.17009989030823908 0.17009989030823908 0.0" name="right_leg_geom" size="0.08" type="capsule" />
          <body pos="-0.17009989030823908 0.17009989030823908 0.0" name="front_right_foot">
            <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge" />
            <geom fromto="0.0 0.0 0.0 -0.32613529778454503 0.32613529778454503 0.0" name="right_ankle_geom" size="0.08" type="capsule" />
          </body>
        </body>
      </body>
      <body name="left_back_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.22952795368674078 -0.22952795368674078 0.0" name="aux_3_geom" size="0.08" type="capsule" />
        <body name="aux_3" pos="-0.22952795368674078 -0.22952795368674078 0.0">
          <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
          <geom fromto="0.0 0.0 0.0 -0.14052329728803833 -0.14052329728803833 0.0" name="back_leg_geom" size="0.08" type="capsule" />
          <body pos="-0.14052329728803833 -0.14052329728803833 0.0" name="left_back_foot">
            <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge" />
            <geom fromto="0.0 0.0 0.0 -0.2607121656222438 -0.2607121656222438 0.0" name="third_ankle_geom" size="0.08" type="capsule" />
          </body>
        </body>
      </body>
      <body name="right_back_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2910959201008213 -0.2910959201008213 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
        <body name="aux_4" pos="0.2910959201008213 -0.2910959201008213 0.0">
          <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
          <geom fromto="0.0 0.0 0.0 0.2698562128910294 -0.2698562128910294 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
          <body pos="0.2698562128910294 -0.2698562128910294 0.0" name="right_back_foot">
            <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge" />
            <geom fromto="0.0 0.0 0.0 0.3972304434021986 -0.3972304434021986 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
          </body>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150" />
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150" />
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150" />
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150" />
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150" />
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150" />
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150" />
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150" />
  </actuator>
</mujoco>