<?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="0.9508925001582932" limited="true"></joint>
		<geom conaffinity="0" condim="3" density="5.0" friction="0.997990655764432 0.5147159102186052 0.48197683507966055" margin="0.01" rgba="0.8 0.6 0.4 1"></geom>
	</default>
	<asset>
		<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"></texture>
		<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"></texture>
		<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"></texture>
		<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"></material>
		<material name="geom" texture="texgeom" texuniform="true"></material>
	</asset>
	<worldbody>
		<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"></light>
		<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="41.751950061902164 38.73493526364928 39.32392608920375" type="plane"></geom>
		<body name="torso" pos="0 0 0.75">
			<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"></camera>
			<geom name="torso_geom" pos="0 0 0" size="0.23952134997198948" type="sphere"></geom>
			<joint armature="0" damping="0.0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"></joint>
			<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="0.08139636612403944" type="capsule"></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="-30 30" type="hinge"></joint>
					<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.07823730939587892" type="capsule"></geom>
					<body pos="0.2 0.2 0">
						<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"></joint>
						<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08306193821778221" type="capsule"></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="0.07605870753129387" 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="-30 30" type="hinge"></joint>
					<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08062366261242948" type="capsule"></geom>
					<body pos="-0.2 0.2 0">
						<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"></joint>
						<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.07776863435301833" type="capsule"></geom>
					</body>
				</body>
			</body>
			<body name="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="0.08036335799264567" 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="-30 30" type="hinge"></joint>
					<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.0822834834250336" type="capsule"></geom>
					<body pos="-0.2 -0.2 0">
						<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"></joint>
						<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.07963448982557707" 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="0.08322898503216135" type="capsule"></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="-30 30" type="hinge"></joint>
					<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.0832091864102919" type="capsule"></geom>
					<body pos="0.2 -0.2 0">
						<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"></joint>
						<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.07839791337620994" type="capsule"></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>