<mujoco model="ant">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option integrator="RK4" timestep="0.002"/>
  <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 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
  </default>
  <asset>
    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
    <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 builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
    <material name="geom" texture="texgeom" texuniform="true"/>
  </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"/>
    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
    <body name="torso" pos="0 0 0.75">
      <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="left_1_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 x y 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
        <body name="aux_1" pos="x y 0">
          <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 x y 0.0" name="left_1_leg_geom" size="0.08" type="capsule"/>
          <body pos="x y 0">
            <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 x y 0.0" name="left_1_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>-->

      <body name="left_1_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.24 0.14 0.0" name="left_1_aux_geom" size="0.08" type="capsule"/>
        <body name="left_1_aux" pos="0.24 0.14 0">
          <joint axis="0 0 1" name="left_1_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_1_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.2 0.2 0">
            <joint axis="-1 1 0" name="left_1_ankle" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_1_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>

      <body name="left_2_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.0 0.28 0.0" name="left_2_aux_geom" size="0.08" type="capsule"/>
        <body name="left_2_aux" pos="0.0 0.28 0">
          <joint axis="0 0 1" name="left_2_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.0 0.28 0.0" name="left_2_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.0 0.28 0">
            <joint axis="-1 0 0" name="left_2_ankle" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.0 0.56 0.0" name="left_2_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>

      <body name="left_3_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.24 0.14 0.0" name="left_3_aux_geom" size="0.08" type="capsule"/>
        <body name="left_3_aux" pos="-0.24 0.14 0">
          <joint axis="0 0 1" name="left_3_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="left_3_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 0.2 0">
            <joint axis="-1 -1 0" name="left_3_ankle" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="left_3_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>

      <body name="right_1_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.24 -0.14 0.0" name="right_1_aux_geom" size="0.08" type="capsule"/>
        <body name="right_1_aux" pos="0.24 -0.14 0">
          <joint axis="0 0 1" name="right_1_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="right_1_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.2 -0.2 0">
            <joint axis="1 1 0" name="right_1_ankle" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="right_1_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>

      <body name="right_2_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 0.0 -0.28 0.0" name="right_2_aux_geom" size="0.08" type="capsule"/>
        <body name="right_2_aux" pos="0.0 -0.28 0">
          <joint axis="0 0 1" name="right_2_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.0 -0.28 0.0" name="right_2_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.0 -0.28 0">
            <joint axis="1 0 0" name="right_2_ankle" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 0.0 -0.56 0.0" name="right_2_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>

      <body name="right_3_leg" pos="0 0 0">
        <geom fromto="0.0 0.0 0.0 -0.24 -0.14 0.0" name="right_3_aux_geom" size="0.08" type="capsule"/>
        <body name="right_3_aux" pos="-0.24 -0.14 0">
          <joint axis="0 0 1" name="right_3_hip" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="right_3_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.2 -0.2 0">
            <joint axis="1 -1 0" name="right_3_ankle" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
            <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="right_3_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
      
    </body>
  </worldbody>

  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_1_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_1_ankle" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_2_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_2_ankle" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_3_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="left_3_ankle" gear="150"/>
    
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_1_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_1_ankle" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_2_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_2_ankle" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_3_hip" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="right_3_ankle" gear="150"/>
  </actuator>

  <!--<sensor>
    <touch name="touch_left_1_ankle_geom" site="left_1_ankle_geom"/>
    <touch name="touch_left_2_ankle_geom" site="left_2_ankle_geom"/>
    <touch name="touch_left_3_ankle_geom" site="left_3_ankle_geom"/>
    
    <touch name="touch_right_1_ankle_geom" site="right_1_ankle_geom"/>
    <touch name="touch_right_2_ankle_geom" site="right_2_ankle_geom"/>
    <touch name="touch_right_3_ankle_geom" site="right_3_ankle_geom"/>
  </sensor>-->
  
</mujoco>
