| <mujoco model="ant"> | |
| <compiler angle="degree" coordinate="local" inertiafromgeom="true"/> | |
| <default> | |
| <joint type="hinge" armature="0.01" damping="0.0" limited="false"/> | |
| <geom condim="3" friction="1 0.5 0.5" type="capsule" size="0.08" rgba="0.8 0.6 0.4 1"/> | |
| </default> | |
| <worldbody> | |
| <body name="torso"> | |
| <freejoint/> | |
| <geom fromto="-0.2 -0.2 0.0 0.2 0.2 0.0"/> | |
| <geom fromto="0.2 -0.2 0.0 -0.2 0.2 0.0"/> | |
| <body name="front_left_leg" pos="0.2 0.2 0"> | |
| <joint name="ankle_1" axis="-1 1 0"/> | |
| <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0"/> | |
| </body> | |
| <body name="front_right_leg" pos="-0.2 0.2 0"> | |
| <joint name="ankle_2" axis="1 1 0"/> | |
| <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0"/> | |
| </body> | |
| <body name="back_leg" pos="-0.2 -0.2 0"> | |
| <joint name="ankle_3" axis="-1 1 0"/> | |
| <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0"/> | |
| </body> | |
| <body name="right_back_leg" pos="0.2 -0.2 0"> | |
| <joint name="ankle_4" axis="1 1 0"/> | |
| <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0"/> | |
| </body> | |
| </body> | |
| </worldbody> | |
| </mujoco> | |