<mujoco model="ant">
  <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="0.01" damping="0.1" limited="true"/>
    <geom condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.97 0.38 0.06 1"/>
  </default>

  <compiler inertiafromgeom="true" angle="degree"/>

  <option timestep="0.016" iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="pyramidal"/>

  <size nconmax="50" njmax="200" nstack="10000"/>
  <visual>
      <map force="0.1" zfar="30"/>
      <rgba haze="0.15 0.25 0.35 1"/>
      <quality shadowsize="2048"/>
      <global offwidth="800" offheight="800"/>
  </visual>

  <asset>
      <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/> 
      <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
      <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" 
          rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>  

      <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
      <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
  </asset>

  <worldbody>
    <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>

    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
    <light mode="targetbodycom" target="torso" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>

    <body name="torso" pos="0 0 0.75">
      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
      <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
      <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
      <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
      <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".999 .2 .02 1"/>

      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
      <body name="front_left_leg" pos="0.2 0.2 0">
        <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
        <body pos="0.2 0.2 0" name="front_left_foot">
          <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
        </body>
      </body>
      <body name="front_right_leg" pos="-0.2 0.2 0">
        <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
        <body pos="-0.2 0.2 0" name="front_right_foot">
          <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
        </body>
      </body>
      <body name="left_back_leg" pos="-0.2 -0.2 0">
        <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
        <body pos="-0.2 -0.2 0" name="left_back_foot">
          <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
        </body>
      </body>
      <body name="right_back_leg" pos="0.2 -0.2 0">
        <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
        <body pos="0.2 -0.2 0" name="right_back_foot">
          <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
          <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
        </body>
      </body>
    </body>
  </worldbody>

  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="15"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="15"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="15"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="15"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="15"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="15"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="15"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="15"/>
  </actuator>
</mujoco>
