<?xml version="1.0" encoding="utf-8"?>
<mujoco model="antmaze">
    <include file="config.xml"></include>
    <include file="assets.xml"></include>
    <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="50 50 50" type="plane"/>
        <include file="ant.xml"></include>
        <include file="maze_walls.xml"></include>

        <!--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="0 0 1 0.5" pos="0. 0. 0." size="0.1" />
        <site name="start" rgba="1 0 0 0.5" pos="-3 -3 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>
