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myant.xml
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<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 0.9">
<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 0.4 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.4 0.2 0.0">
<joint axis="0 1 0" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.05 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0.05 0" name="front_left_foot">
<joint axis="1 0 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.0 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 0.4 0" name="front_left_ext">
<joint axis="1 0 0" name="ext_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 0.4 0.0" name="left_ext_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
</body>
<body name="front_right_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.4 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.4 0.2 0">
<joint axis="0 1 0" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 0.05 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
<body pos="0 0.05 0" name="front_right_foot">
<joint axis="1 0 0" name="ankle_2" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
<body pos="0 0.4 0" name="front_right_ext">
<joint axis="1 0 0" name="ext_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 0.4 0.0" name="right_ext_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
</body>
<body name="left_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.4 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<body name="aux_3" pos="-0.4 -0.2 0">
<joint axis="0 1 0" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.05 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
<body pos="0 -0.05 0" name="left_back_foot">
<joint axis="1 0 0" name="ankle_3" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
<body pos="0 -0.4 0" name="left_back_ext">
<joint axis="1 0 0" name="ext_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.4 0.0" name="left_ext_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.4 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_4" pos="0.4 -0.2 0">
<joint axis="0 1 0" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.05 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 -0.05 0" name="right_back_foot">
<joint axis="1 0 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0 -0.4 0" name="right_back_ext">
<joint axis="1 0 0" name="ext_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0 -0.4 0.0" name="right_ext_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ext_1" gear="150"/>
</actuator>
</mujoco>