<!--
 Copyright 2021 Google LLC

 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at

      http://www.apache.org/licenses/LICENSE-2.0

 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
-->

<!-- Same a gym ant but with gear ratio of 30 and sites -->
<mujoco model="ant">
    <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
    <option integrator="RK4" timestep="0.01"/>
    <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="front_left_leg" pos="0 0 0">
                <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
                <body name="aux_1" pos="0.2 0.2 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 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
                    <body pos="0.2 0.2 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 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
                    </body>
                </body>
            </body>
            <body name="front_right_leg" pos="0 0 0">
                <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
                <body name="aux_2" pos="-0.2 0.2 0">
                    <joint axis="0 0 1" name="hip_2" 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_leg_geom" size="0.08" type="capsule"/>
                    <body pos="-0.2 0.2 0">
                        <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -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>
            <body name="back_leg" pos="0 0 0">
                <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
                <body name="aux_3" pos="-0.2 -0.2 0">
                    <joint axis="0 0 1" name="hip_3" 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="back_leg_geom" size="0.08" type="capsule"/>
                    <body pos="-0.2 -0.2 0">
                        <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -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>
            <body name="right_back_leg" pos="0 0 0">
                <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/>
                <body name="aux_4" pos="0.2 -0.2 0">
                    <joint axis="0 0 1" name="hip_4" 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="rightback_leg_geom" size="0.08" type="capsule"/>
                    <body pos="0.2 -0.2 0">
                        <joint axis="1 1 0" name="ankle_4" 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="fourth_ankle_geom" size="0.08" type="capsule"/>
                    </body>
                </body>
            </body>
        </body>
        <!--By default, this goal will be hidden under the floor-->
        <site name="goal" rgba="0 1 1 0.5" pos="0. 0. -1" size="0.5" />
        <site name="origin" rgba="1 0 0 0.5" pos="0. 0. 0." size="0.1" />
    </worldbody>
    <actuator>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="30"/>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="30"/>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="30"/>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="30"/>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="30"/>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="30"/>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="30"/>
        <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="30"/>
    </actuator>
</mujoco>
