<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 0.23 0.16 0.0" name="left_1_aux_geom" size="0.08" type="capsule"/>
        <body name="left_1_aux" pos="0.23 0.16 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 0.23 0.16 0.0" name="left_1_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.23 0.16 0">
            <joint axis="-0.81 0.59 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 0.46 0.32 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 -0.09 0.27 0.0" name="left_2_aux_geom" size="0.08" type="capsule"/>
        <body name="left_2_aux" pos="-0.09 0.27 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 -0.09 0.27 0.0" name="left_2_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.09 0.27 0">
            <joint axis="-0.95 -0.31 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 -0.18 0.54 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 -0.28 0.0 0.0" name="left_3_aux_geom" size="0.08" type="capsule"/>
        <body name="left_3_aux" pos="-0.28 0.0 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 -0.28 0.0 0.0" name="left_3_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.28 0.0 0">
            <joint axis="0 -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 -0.56 0.0 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 0.23 -0.16 0.0" name="right_1_aux_geom" size="0.08" type="capsule"/>
        <body name="right_1_aux" pos="0.23 -0.16 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 0.23 -0.16 0.0" name="right_1_leg_geom" size="0.08" type="capsule"/>
          <body pos="0.23 -0.16 0">
            <joint axis="0.81 0.59 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 0.46 -0.32 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 -0.09 -0.27 0.0" name="right_2_aux_geom" size="0.08" type="capsule"/>
        <body name="right_2_aux" pos="-0.09 -0.27 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 -0.09 -0.27 0.0" name="right_2_leg_geom" size="0.08" type="capsule"/>
          <body pos="-0.09 -0.27 0">
            <joint axis="0.95 0.31 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 -0.18 -0.54 0.0" name="right_2_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"/>
	</actuator>
	<!--<sensor>
		<touch name="touch_first_ankle_geom" site="first_ankle_geom"/>
		<touch name="touch_second_ankle_geom" site="second_ankle_geom"/>
		<touch name="touch_third_ankle_geom" site="third_ankle_geom"/>
		<touch name="touch_fourth_ankle_geom" site="fourth_ankle_geom"/>
		<touch name="touch_fifth_ankle_geom" site="fifth_ankle_geom"/>
	</sensor>-->
</mujoco>
