<mujoco model="four_short_legs">
    <compiler inertiafromgeom="true" settotalmass="0.05"/>
	<default>
		<joint armature="0" damping="1" limited="true" frictionloss="0"/>
        <geom friction="0.5 0.1 0.1"/>
        <!--<geom conaffinity="0" condim="3" rgba="0.8 0.6 0.4 1" friction="1.5 0.1 0.1" density="5.0"/>-->
		<!--<motor ctrlrange="-3 3"/>-->
        <!--<motor gainprm="10"/>-->
        <position kp="10"/>
	</default>
	<option gravity="0 0 -9.8" integrator="RK4" timestep="0.02"/>
	<size nstack="3000"/>
    <worldbody>
        <!--<geom name="ground" type="plane" pos="0 0 0"/>-->
        <body name="base" pos="0 0 0.01">
            <geom name="base" pos="0 0 0.0" type="box" size="0.032 0.032 0.01" euler="0 0 0"/>
            <body name="leg_rb" pos="0.035 -0.022 -0.005">
                <joint axis="1 0 0" name="servo_rb" pos="0 0 0" range="0 180" type="hinge"/>
                <geom fromto="0 -0.013 0 0 0.013 0" name="leg" size="0.003 0.002" type="capsule"/>
            </body>
            <body name="leg_rf" pos="0.035 0.022 -0.005">
                <joint axis="1 0 0" name="servo_rf" pos="0 0 0" range="-180 0" type="hinge"/>
                <geom fromto="0 -0.013 0 0 0.013 0" name="leg" size="0.003 0.002" type="capsule"/>
            </body>
            <body name="leg_lb" pos="-0.035 -0.022 -0.005">
                <joint axis="1 0 0" name="servo_lb" pos="0 0 0" range="0 180" type="hinge"/>
                <geom fromto="0 -0.013 0 0 0.013 0" name="leg" size="0.003 0.002" type="capsule"/>
            </body>
            <body name="leg_lf" pos="-0.035 0.022 -0.005">
                <joint axis="1 0 0" name="servo_lf" pos="0 0 0" range="-180 0" type="hinge"/>
                <geom fromto="0 -0.013 0 0 0.013 0" name="leg" size="0.003 0.002" type="capsule"/>
            </body>
            <!-- IMU sensor box -->
            <body name="IMU" pos="0.0025 0.03 0.02" euler="0 0 0">
                <geom name="IMU" pos="0 0 0" type="box" size="0.02 0.02 0.003" euler="0 0 0"/>
                <joint armature="0" damping="0" limited="false" axis="0 0 0" name="IMUroot" pos="0 0 0" stiffness="0" type="fixed"/>
            </body>
        </body>
    </worldbody>
    <actuator>
        <position joint="servo_rb" name="servo_rb"/>
        <position joint="servo_rf" name="servo_rf"/>
        <position joint="servo_lb" name="servo_lb"/>
        <position joint="servo_lf" name="servo_lf"/>
    </actuator>
</mujoco>
