<mujoco model="ant">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true" settotalmass="40"/>
  <option integrator="RK4" timestep="0.005"/>
  <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="1" contype="1" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1" material="geom"/>
  </default>
    <asset>
        <texture type="skybox" builtin="gradient" rgb1=".1 .12 .15" rgb2="0 0 0" width="100" height="100"/>
        <texture builtin="checker" height="100" name="texplane" rgb1=".35 .65 .65" rgb2=".0 .4 0.6" type="2d" width="100"/>
        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="25 25" texture="texplane"/>
        <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"/>
        <material name="geom" texture="texgeom" texuniform="true"/>
    </asset>
  <worldbody>
    <light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" />
    <geom name='floor' material="MatPlane" pos='0 0 0' size='40 40 40' type='plane' rgba='0.9 0.9 0.9 1' condim='3' group="1"/>

    <geom name="wall-0" pos=" 1.4  -3.5  .5" rgba="1. 1. 1. 1" size="4   0.5 1.0" type="box" material="" group="1" />
    <geom name="wall-1" pos="-2.8   0    .5" rgba="1. 1. 1. 1" size="0.5 4   1.0" type="box" material="" group="1" />
    <geom name="wall-2" pos=" 1.4   3.5  .5" rgba="1. 1. 1. 1" size="4   0.5 1.0" type="box" material="" group="1" />
    
    <geom name="wall-3" pos=" 4.9   7    .5" rgba="1. 1. 1. 1" size="0.5 4   1.0" type="box" material="" group="1" />
    <geom name="wall-4" pos=" 8.4  10.5  .5" rgba="1. 1. 1. 1" size="4   0.5 1.0" type="box" material="" group="1" />
    <geom name="wall-5" pos="11.9   7    .5" rgba="1. 1. 1. 1" size="0.5 4   1.0" type="box" material="" group="1" />
    
    <geom name="wall-6" pos="15.4  -3.5  .5" rgba="1. 1. 1. 1" size="4   0.5 1.0" type="box" material="" group="1" />
    <geom name="wall-7" pos="18.9   0    .5" rgba="1. 1. 1. 1" size="0.5 4   1.0" type="box" material="" group="1" />
    <geom name="wall-8" pos="15.4   3.5  .5" rgba="1. 1. 1. 1" size="4   0.5 1.0" type="box" material="" group="1" />
    
    <geom name="wall-9" pos="  4.9   -7    .5" rgba="1. 1. 1. 1" size="0.5 4   1.0" type="box" material="" group="1" />
    <geom name="wall-10" pos=" 8.4  -10.5  .5" rgba="1. 1. 1. 1" size="4   0.5 1.0" type="box" material="" group="1" />
    <geom name="wall-11" pos="11.9   -7    .5" rgba="1. 1. 1. 1" size="0.5 4   1.0" type="box" material="" group="1" />

    <body name="torso" pos="0 0 0.75">
      <geom name="torso_geom" pos="0 0 0" size="0.50 0.25 0.25" type="ellipsoid"/>
      <body name="head" pos="0.4 0 0.25">
        <geom name="head_geom" density="0.01" rgba="1.0 0.5 0.3 1" pos="0.0 0.0 0.0" size="0.25" type="sphere"/>
        <site name="head_site" pos="0.0 0.0 0.0" size="0.005" type="sphere"/>
      </body>      
      <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="0.4 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="front_left_leg_geom" size="0.08" type="capsule"/>
          <site fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="front_left_leg_site" size="0.005" 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="front_left_ankle_geom" size="0.08" type="capsule"/>
            <site fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="front_left_ankle_site" size="0.005" 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="front_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="front_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="left_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="left_back_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="0.4 -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="right_back_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="right_back_ankle_geom" size="0.08" type="capsule"/>
          </body>
        </body>
      </body>
    </body>   
    <geom name="target" pos="8.4 8.4 0.85" rgba="0 1 0 0.4" size="0.95" type="sphere" group="1" contype="0" conaffinity="0" />

    <geom name="led-0" pos="-15  8 0.0" rgba="0.12156862745098039 0.4666666666666667 0.7058823529411765 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-1" pos="-13  8 0.0" rgba="1.0 0.4980392156862745 0.054901960784313725 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-2" pos="-11  8 0.0" rgba="0.17254901960784313 0.6274509803921569 0.17254901960784313 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-3" pos=" -9  8 0.0" rgba="0.8392156862745098 0.15294117647058825 0.1568627450980392 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-4" pos=" -7  8 0.0" rgba="0.5803921568627451 0.403921568627451 0.7411764705882353 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-5" pos=" -5  8 0.0" rgba="0.5490196078431373 0.33725490196078434 0.29411764705882354 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-6" pos=" -3  8 0.0" rgba="0.8901960784313725 0.4666666666666667 0.7607843137254902 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-7" pos=" -1  8 0.0" rgba="0.4980392156862745 0.4980392156862745 0.4980392156862745 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-8" pos="  1  8 0.0" rgba="0.7372549019607844 0.7411764705882353 0.13333333333333333 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-9" pos="  3  8 0.0" rgba="0.09019607843137255 0.7450980392156863 0.8117647058823529 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-10" pos="-15  11 0.0" rgba="0.6784313725490196 0.28627450980392155 0.2901960784313726 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-11" pos="-13  11 0.0" rgba="0.7764705882352941 0.8588235294117647 0.9372549019607843 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-12" pos="-11  11 0.0" rgba="0.17254901960784313 0.6274509803921569 0.17254901960784313 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-13" pos=" -9  11 0.0" rgba="0.8392156862745098 0.15294117647058825 0.1568627450980392 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-14" pos=" -7  11 0.0" rgba="0.5803921568627451 0.403921568627451 0.7411764705882353 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-15" pos=" -5  11 0.0" rgba="0.5490196078431373 0.33725490196078434 0.29411764705882354 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-16" pos=" -3  11 0.0" rgba="0.8901960784313725 0.4666666666666667 0.7607843137254902 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-17" pos=" -1  11 0.0" rgba="0.4980392156862745 0.4980392156862745 0.4980392156862745 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-18" pos="  1  11 0.0" rgba="0.7372549019607844 0.7411764705882353 0.13333333333333333 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led-19" pos="  3  11 0.0" rgba="0.09019607843137255 0.7450980392156863 0.8117647058823529 1.0" size="0.7" type="sphere" group="1" contype="0" conaffinity="0" />

    <geom name="led2-0" pos="  -3  -8 0.0" rgba="0.8392156862745098 0.15294117647058825 0.1568627450980392 1.0" size="1.0" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led2-1" pos="  -6 -11 0.0" rgba="0.17254901960784313 0.6274509803921569 0.17254901960784313 1.0" size="1.0" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led2-2" pos="   0 -11 0.0" rgba="0.4980392156862745 0.4980392156862745 0.4980392156862745 1.0" size="1.0" type="sphere" group="1" contype="0" conaffinity="0" />
    <geom name="led2-3" pos="  -3 -11 0.0" rgba="0.5803921568627451 0.403921568627451 0.7411764705882353 1.0" size="1.0" type="sphere" group="1" contype="0" conaffinity="0" />
    
  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
  </actuator>
  <sensor>
    <force name='force_head' site='head_site' />
    <force name='force_front_left_leg' site='front_left_leg_site' />
  </sensor>
</mujoco>
