<?xml version="1.0" encoding="utf-8"?>
<mujoco model="ant">
	<compiler angle="degree" coordinate="local" inertiafromgeom="true"></compiler>
	<option integrator="RK4" timestep="0.01"></option>
	<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"></numeric>
	</custom>
	<default>
		<joint armature="1" damping="0.913328022872415" limited="true"></joint>
		<geom conaffinity="0" condim="3" density="5.0" friction="1.595565452515296 0.09593855322756223 0.09750416333906353" margin="0.01" rgba="0.8 0.6 0.4 1"></geom>
	</default>
	<worldbody>
		<body name="torso" pos="0 0 0.75">
			<geom name="torso_geom" pos="0 0 0" size="0.26314400610019717" type="sphere"></geom>
			<body name="front_left_leg" pos="0 0 0">
				<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08796485175550026" type="capsule" rgba=".8 .5 .3 1"></geom>
				<body name="aux_1" pos="0.2 0.2 0">
					<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"></joint>
					<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.07639189182462826" type="capsule" rgba=".8 .5 .3 1"></geom>
					<body pos="0.2 0.2 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"></joint>
						<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.07517972010734765" type="capsule" rgba=".8 .5 .3 1"></geom>
					</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="aux_2_geom" size="0.08415604287542026" type="capsule"></geom>
				<body name="aux_2" pos="-0.2 0.2 0">
					<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"></joint>
					<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.07797043095955623" type="capsule"></geom>
					<body pos="-0.2 0.2 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"></joint>
						<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08419997705913351" type="capsule"></geom>
					</body>
				</body>
			</body>
			<body name="left_back_leg" pos="0 0 0">
				<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.07248398118857269" type="capsule"></geom>
				<body name="aux_3" pos="-0.2 -0.2 0">
					<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"></joint>
					<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.07360463953264972" type="capsule"></geom>
					<body pos="-0.2 -0.2 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"></joint>
						<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.0806282040676415" type="capsule"></geom>
					</body>
				</body>
			</body>
			<body name="right_back_leg" pos="0 0 0">
				<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.07202769403074537" type="capsule" rgba=".8 .5 .3 1"></geom>
				<body name="aux_4" pos="0.2 -0.2 0">
					<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"></joint>
					<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.07923051264103463" type="capsule" rgba=".8 .5 .3 1"></geom>
					<body pos="0.2 -0.2 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"></joint>
						<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.0825378329217775" type="capsule" rgba=".8 .5 .3 1"></geom>
					</body>
				</body>
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"></motor>
		<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"></motor>
	</actuator>
</mujoco>