<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"/>
      <!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
      
      <body name="front_left_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="front_left_aux_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
        <body name="front_left_aux" pos="0.2 0.2 0">
          <joint axis="0 0 1" name="front_left_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="front_left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
          <body pos="0.2 0.2 0" name="front_left_foot">
            <joint axis="-1 1 0" name="front_left_ankle" pos="0.0 0.0 0.0" range="0 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="front_left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
          </body>
        </body>
      </body>

      <!--<body name="middle_left_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="middle_left_aux_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
        <body name="middle_left_aux" pos="0.2 0.2 0">
          <joint axis="0 0 1" name="middle_left_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="middle_left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
          <body pos="0.2 0.2 0" name="middle_left_foot">
            <joint axis="-1 1 0" name="middle_left_ankle" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="middle_left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
          </body>
        </body>
      </body>-->

      <body name="back_left_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="back_left_aux_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
        <body name="back_left_aux" pos="0.2 -0.2 0">
          <joint axis="0 0 1" name="back_left_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="back_left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
          <body pos="0.2 -0.2 0" name="back_left_foot">
            <joint axis="1 1 0" name="back_left_ankle" pos="0.0 0.0 0.0" range="0 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="back_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 -0.2 0.2 0.0" name="front_right_aux_geom" size="0.08" type="capsule"/>
        <body name="front_right_aux" pos="-0.2 0.2 0">
          <joint axis="0 0 1" name="front_right_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="front_right_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 0.2 0" name="front_right_foot">
            <joint axis="-1 -1 0" name="front_right_ankle" pos="0.0 0.0 0.0" range="0 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="front_right_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>

      <!--<body name="middle_right_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="middle_right_aux_geom" size="0.08" type="capsule"/>
        <body name="middle_right_aux" pos="-0.2 0.2 0">
          <joint axis="0 0 1" name="middle_right_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="middle_right_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 0.2 0" name="middle_right_foot">
            <joint axis="-1 -1 0" name="middle_right_ankle" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="middle_right_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>-->
      
      <body name="back_right_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_right_aux_geom" size="0.08" type="capsule"/>
        <body name="back_right_aux" pos="-0.2 -0.2 0">
          <joint axis="0 0 1" name="back_right_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_right_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 -0.2 0" name="back_right_foot">
            <joint axis="1 -1 0" name="back_right_ankle" pos="0.0 0.0 0.0" range="0 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="back_right_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      
    </body>
  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="front_left_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="front_left_ankle" gear="150"/>

    <!--<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="middle_left_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="middle_left_ankle" gear="150"/>-->

    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="back_left_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="back_left_ankle" gear="150"/>
    
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="front_right_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="front_right_ankle" gear="150"/>

    <!--<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="middle_right_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="middle_right_ankle" gear="150"/>-->
    
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="back_right_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="back_right_ankle" gear="150"/>
  </actuator>
</mujoco>
