<mujoco model="ant">
	<compiler inertiafromgeom="true" angle="degree" coordinate="local"/>
	<size nlmax="50" ncmax="50" njmax="200" nctotmax="50" ngeom_user="1" nstack="82825"/>
    <default>
        <joint islimited="true" armature="0.2" damping="0.1" compliance="0.01" timeconst="0.01" />
        <geom condim="3" conaffinity="0" mindist="0.1" friction="1 0.5 0.5" rgba="0.8 0.6 0.4 1" compliance="0.01"  timeconst="0.01" density="5.0"/>
    </default>
	<!-- <size nlmax="50" ncmax="50" njmax="200" nctotmax="50" ngeom_user="1" nstack="82825"/>
	<option timestep="0.01" remotecontact="false" expdist="50.0" density="10.0"/>

	<default>
		<joint islimited='true' damping='.1' armature='0.01'  compliance='0.01' timeconst='0.01'/>
		<geom contype='1' conaffinity='0' condim='3' friction='.7 .1 .1' rgba='0.8 0.6 .4 1' mindist='0.04' compliance='0.01' timeconst='0.01' density='10'/>
	</default> -->

	<body>
		<geom name='floor' pos='0 0 0' size='40 40 40' type='plane' conaffinity='1'  rgba='0.8 0.9 0.8 1' condim='3'/>

		<!-- <body name='ball' pos='0.0 0.0 0.0'>
    		<joint name='ballx' type='slide' axis='1 0 0' pos='0 0 0' islimited='false' damping='0.1' armature='0' stiffness='0'/>
    		<joint name='bally' type='slide' axis='0 1 0' pos='0 0 0' islimited='false' damping='0.1' armature='0' stiffness='0'/>
    		<geom name='ball' pos='0 0 0.08' size='0.001' type='sphere' conaffinity='1' condim='3' density="0.01"/>
  		</body>-->

		<body name="torso" pos="0 0.0 0.75">
			<geom name="torso_geom" type="sphere" size="0.25" pos="0 0 0" />
			<joint name="root" type="free" islimited="false" pos="0 0 0" axis="0 0 1" mindist="0.01" armature="0" damping="0" />
                        <body name="front_left_leg" pos="0 0 0">
                          <geom name="aux_1_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 0.2 0.0"/>
                          <body name="aux_1" pos="0.2 0.2 0">
				  <joint name="hip_1" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30"/> 
				  <geom name="left_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 0.2 0.0"/>
				  <body pos="0.2 0.2 0">
					  <joint name="ankle_1" type="hinge" pos="0.0 0.0 0.0" axis="-1 1 0" range="30 70"/> 
					  <geom name="left_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.4 0.4 0.0"/>
                                  </body>
                          </body>
                        </body>
                         <body name="front_right_leg" pos="0 0 0">
                          <geom name="aux_2_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 0.2 0.0"/>
                          <body name="aux_2" pos="-0.2 0.2 0">
				  <joint name="hip_2" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30"/> 
				  <geom name="right_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 0.2 0.0"/>
				  <body pos="-0.2 0.2 0">
					  <joint name="ankle_2" type="hinge" pos="0.0 0.0 0.0" axis="1 1 0" range="-70 -30"/> 
					  <geom name="right_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.4 0.4 0.0"/>
                                  </body>
                          </body>
			</body>
                      <body name="back_leg" pos="0 0 0">
                          <geom name="aux_3_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0"/>
                          <body name="aux_3" pos="-0.2 -0.2 0">
				<joint name="hip_3" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30"/>
				<geom name="back_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0"/>
				<body pos="-0.2 -0.2 0">
					<joint name="ankle_3" type="hinge" pos="0.0 0.0 0.0" axis="-1 1 0" range="-70 -30"/> 
					<geom name="third_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.4 -0.4 0.0"/>
                                </body>
                          </body>
                        </body>
                        <body name="right_back_leg" pos="0 0 0">
                          <geom name="aux_4_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 -0.2 0.0"/>
                          <body name="aux_4" pos="0.2 -0.2 0">
				<joint name="hip_4" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30"/>
				<geom name="rightback_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 -0.2 0.0"/>
				<body pos="0.2 -0.2 0">
					<joint name="ankle_4" type="hinge" pos="0.0 0.0 0.0" axis="1 1 0" range="30 70"/> 
					<geom name="fourth_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.4 -0.4 0.0"/>
                                </body>
                          </body>
                        </body> 
		</body>
	</body>
        <actuator>
                <motor joint="hip_4" ctrlrange="-150.0 150.0" isctrllimited="true"/>
                <motor joint="ankle_4" ctrlrange="-150.0 150.0" isctrllimited="true"/>
		<motor joint="hip_1" ctrlrange="-150.0 150.0" isctrllimited="true"/>
		<motor joint="ankle_1" ctrlrange="-150.0 150.0" isctrllimited="true"/>
		<motor joint="hip_2" ctrlrange="-150.0 150.0" isctrllimited="true"/>
		<motor joint="ankle_2" ctrlrange="-150.0 150.0" isctrllimited="true"/>
		<motor joint="hip_3" ctrlrange="-150.0 150.0" isctrllimited="true"/>
                <motor joint="ankle_3" ctrlrange="-150.0 150.0" isctrllimited="true"/>
                
	</actuator>
</mujoco>
