diff --git a/resources/YamlStructures/MountainGoat.yaml b/resources/YamlStructures/MountainGoat.yaml
new file mode 100644
index 000000000..f435357b1
--- /dev/null
+++ b/resources/YamlStructures/MountainGoat.yaml
@@ -0,0 +1,106 @@
+substructures:
+  spine:
+    path: MountainGoatSpine/MGSpine.yaml
+  
+  front_right_leg/back_right_leg/front_left_leg/back_left_leg:
+    path: MountainGoatLimb/MGLeg.yaml
+  front_right_leg/back_right_leg:
+    rotation:
+      reference: [0, 0, 0]
+      axis: [0, 1, 0]
+      angle: 180
+
+  front_right_leg/front_left_leg:
+    translation: [22, 0, 0]
+  back_right_leg/back_left_leg:
+    translation: [66, 0, 0]
+
+bond_groups:
+  string:
+      front_right_leg/spine/node_node:
+        - [hip.inner_top, vertebra1.back2]
+        - [hip.inner_top, vertebra2.front2]
+        - [hip.inner_top, vertebra2.back1]
+        - [hip.inner_top, vertebra3.front1]
+        
+        - [hip.inner_bottom, vertebra1.back1]
+        - [hip.inner_bottom, vertebra2.front2]
+        - [hip.inner_bottom, vertebra2.back1]
+        - [hip.inner_bottom, vertebra3.front2]
+
+        - [hip.center, vertebra2.back1]
+        - [hip.center, vertebra2.front2]
+        - [knee.top, vertebra2.front2]
+        - [knee.back, vertebra2.front2]
+        - [knee.front, vertebra2.back1]
+
+      front_left_leg/spine/node_node:
+        - [hip.inner_top, vertebra1.back2]
+        - [hip.inner_top, vertebra2.back2]
+        - [hip.inner_top, vertebra2.front1]
+        - [hip.inner_top, vertebra3.front1]
+
+        - [hip.inner_bottom, vertebra1.back1]
+        - [hip.inner_bottom, vertebra2.back2]
+        - [hip.inner_bottom, vertebra2.front1]
+        - [hip.inner_bottom, vertebra3.front2]
+
+        - [hip.center, vertebra2.back2]
+        - [hip.center, vertebra2.front1]
+        - [knee.top, vertebra2.front1]
+        - [knee.front, vertebra2.front1]
+        - [knee.back, vertebra2.back2]
+
+      back_right_leg/spine/node_node:
+        - [hip.inner_top, vertebra5.back2]
+        - [hip.inner_top, vertebra6.back1]
+        - [hip.inner_top, vertebra6.front2]
+        - [hip.inner_top, vertebra7.front1]
+
+        - [hip.inner_bottom, vertebra5.back1]
+        - [hip.inner_bottom, vertebra6.back1]
+        - [hip.inner_bottom, vertebra6.front2]
+        - [hip.inner_bottom, vertebra7.front2]
+
+        - [hip.center, vertebra6.back1]
+        - [hip.center, vertebra6.front2]
+        - [knee.top, vertebra4.back1]
+        - [knee.back, vertebra6.front2]
+        - [knee.front, vertebra6.back1]
+
+      back_left_leg/spine/node_node:
+        - [hip.inner_top, vertebra6.back2]
+        - [hip.inner_top, vertebra6.front1]
+        - [hip.inner_top, vertebra5.back2]
+        - [hip.inner_top, vertebra7.front1]
+
+        - [hip.inner_bottom, vertebra6.back2]
+        - [hip.inner_bottom, vertebra6.front1]
+        - [hip.inner_bottom, vertebra5.back1]
+        - [hip.inner_bottom, vertebra7.front2]
+
+        - [hip.center, vertebra6.back2]
+        - [hip.center, vertebra6.front1]
+        - [knee.top, vertebra4.back2]
+        - [knee.back, vertebra6.back2]
+        - [knee.front, vertebra6.front1]
+
+builders:
+  rod:
+    class: tgRodInfo
+    parameters:
+      density: 0.014
+      radius: 0.5
+      friction: 0.5
+  string:
+    class: tgBasicActuatorInfo
+    parameters:
+      stiffness: 2000
+      damping: 20
+      pretension: 1000
+      # motor_friction: 10
+      max_tension: 7000
+      target_velocity: 12
+
+
+
diff --git a/resources/YamlStructures/MountainGoatLimb/MGHip.yaml b/resources/YamlStructures/MountainGoatLimb/MGHip.yaml
new file mode 100644
index 000000000..454ac9c43
--- /dev/null
+++ b/resources/YamlStructures/MountainGoatLimb/MGHip.yaml
@@ -0,0 +1,11 @@
+nodes:
+  center: [0, 0, 0]
+  outer_bottom: [0, -10, -10]
+  inner_bottom: [0, -10, 10]
+  inner_top: [0, 10, 10]
+
+pair_groups:
+  rod:
+    - [center, outer_bottom]
+    - [center, inner_bottom]
+    - [center, inner_top]
\ No newline at end of file
diff --git a/resources/YamlStructures/MountainGoatLimb/MGKnee.yaml b/resources/YamlStructures/MountainGoatLimb/MGKnee.yaml
new file mode 100644
index 000000000..5d8c164dd
--- /dev/null
+++ b/resources/YamlStructures/MountainGoatLimb/MGKnee.yaml
@@ -0,0 +1,15 @@
+nodes:
+  base_bottom: [0, 0, 0]
+  base_top: [0, 5, 0]
+  center: [0, 15, 0]
+  back: [10, 15, 0]
+  front: [-10, 15, 0]
+  top: [0, 25, 0]
+
+pair_groups:
+  rod:
+    - [base_bottom, base_top]
+    - [center, base_top]
+    - [center, back]
+    - [center, front]
+    - [center, top]
\ No newline at end of file
diff --git a/resources/YamlStructures/MountainGoatLimb/MGLeg.yaml b/resources/YamlStructures/MountainGoatLimb/MGLeg.yaml
new file mode 100644
index 000000000..9a47cb03a
--- /dev/null
+++ b/resources/YamlStructures/MountainGoatLimb/MGLeg.yaml
@@ -0,0 +1,20 @@
+substructures:
+  hip:
+    path: MGHip.yaml
+    translation: [0, 26, -11]
+  knee:
+    path: MGKnee.yaml
+    translation: [0, 0, -11]
+
+bond_groups:
+  string:
+      hip/knee/node_node:
+        - [inner_bottom, top]
+        - [inner_bottom, front]
+        - [inner_bottom, back]
+
+        - [outer_bottom, top]
+        - [outer_bottom, front]
+        - [outer_bottom, back]
+
+        - [inner_top, top]
diff --git a/resources/YamlStructures/MountainGoatSpine/MGSpine.yaml b/resources/YamlStructures/MountainGoatSpine/MGSpine.yaml
new file mode 100644
index 000000000..26c9009f1
--- /dev/null
+++ b/resources/YamlStructures/MountainGoatSpine/MGSpine.yaml
@@ -0,0 +1,38 @@
+substructures:
+  vertebra1/vertebra2/vertebra3/vertebra4/vertebra5/vertebra6/vertebra7:
+    path: MGVertebra.yaml
+    translation: [11, 0, 0]
+    offset: [11, 0, 0]
+  vertebra1/vertebra3/vertebra5/vertebra7:
+    rotation:
+      axis: [1, 0, 0]
+      angle: 90
+
+bond_groups:
+  string:
+      vertebra1/vertebra2/vertebra3/vertebra4/vertebra5/vertebra6/vertebra7/node_node:
+        - [back1, front1]
+        - [back1, front2]
+        - [back2, front1]
+        - [back2, front2]
+      vertebra1/vertebra3/vertebra5/vertebra7/node_node:
+        - [back1, front2]
+        - [back2, front1]
+      vertebra2/vertebra4/vertebra6/node_node:
+        - [back1, front2]
+        - [back2, front1]
+      vertebra1/vertebra2/node_node:
+        - [front1, front1]
+        - [front2, front2]
+        - [front1, front2]
+        - [front2, front1]
+      vertebra6/vertebra7/node_node:
+        - [back1, back1]
+        - [back1, back2]
+        - [back2, back1]
+        - [back2, back2]
+      vertebra2/vertebra3/vertebra4/vertebra5/vertebra6/vertebra7/node_node:
+        - [front1, front1]
+        - [front1, front2]
+        - [front2, front1]
+        - [front2, front2]
diff --git a/resources/YamlStructures/MountainGoatSpine/MGVertebra.yaml b/resources/YamlStructures/MountainGoatSpine/MGVertebra.yaml
new file mode 100644
index 000000000..00677c822
--- /dev/null
+++ b/resources/YamlStructures/MountainGoatSpine/MGVertebra.yaml
@@ -0,0 +1,13 @@
+nodes:
+  center: [0, 26, 0]
+  back1: [10, 26, 10]
+  back2: [10, 26, -10]
+  front1: [-10, 26, -10]
+  front2: [-10, 26, 10]
+
+pair_groups:
+  rod:
+    - [center, back1]
+    - [center, back2]
+    - [center, front1]
+    - [center, front2]