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ant-gen.xml
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ant-gen.xml
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<?xml version="1.0" encoding="utf-8"?>
<mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<custom>
<numeric name="init_qpos" 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"/>
</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="0.1 0.1 0.1"/>
<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">
<camera mode="trackcom" name="track" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
<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_right_leg" pos="0 0 0" euler="0 0 0.0">
<geom fromto="0 0 0 0.2 0 0" name="aux_geom_front_right_leg" size="0.08" type="capsule"/>
<body name="aux_body_front_right_leg" pos="0.2 0 0">
<joint axis="0 0 1" name="hip_joint_front_right_leg" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="leg_geom_front_right_leg" size="0.08" type="capsule"/>
<body name="ankle_body_front_right_leg" pos="0.4 0.0 0">
<joint axis="0 1 0" name="ankle_joint_front_right_leg" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="ankle_geom_front_right_leg" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="front_left_leg" pos="0 0 0" euler="0 0 90">
<geom fromto="0 0 0 0.2 0 0" name="aux_geom_front_left_leg" size="0.08" type="capsule"/>
<body name="aux_body_front_left_leg" pos="0.2 0 0">
<joint axis="0 0 1" name="hip_joint_front_left_leg" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="leg_geom_front_left_leg" size="0.08" type="capsule"/>
<body name="ankle_body_front_left_leg" pos="0.4 0.0 0">
<joint axis="0 1 0" name="ankle_joint_front_left_leg" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="ankle_geom_front_left_leg" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="back_left_leg" pos="0 0 0" euler="0 0 180">
<geom fromto="0 0 0 0.2 0 0" name="aux_geom_back_left_leg" size="0.08" type="capsule"/>
<body name="aux_body_back_left_leg" pos="0.2 0 0">
<joint axis="0 0 1" name="hip_joint_back_left_leg" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="leg_geom_back_left_leg" size="0.08" type="capsule"/>
<body name="ankle_body_back_left_leg" pos="0.4 0.0 0">
<joint axis="0 1 0" name="ankle_joint_back_left_leg" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="ankle_geom_back_left_leg" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="back_right_leg" pos="0 0 0" euler="0 0 270">
<geom fromto="0 0 0 0.2 0 0" name="aux_geom_back_right_leg" size="0.08" type="capsule"/>
<body name="aux_body_back_right_leg" pos="0.2 0 0">
<joint axis="0 0 1" name="hip_joint_back_right_leg" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.0 0.0" name="leg_geom_back_right_leg" size="0.08" type="capsule"/>
<body name="ankle_body_back_right_leg" pos="0.4 0.0 0">
<joint axis="0 1 0" name="ankle_joint_back_right_leg" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.6 0.0 0.0" name="ankle_geom_back_right_leg" size="0.08" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="hip_joint_front_right_leg"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="ankle_joint_front_right_leg"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="hip_joint_front_left_leg"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="ankle_joint_front_left_leg"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="hip_joint_back_left_leg"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="ankle_joint_back_left_leg"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="hip_joint_back_right_leg"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="ankle_joint_back_right_leg"/>
</actuator>
</mujoco>