<mujoco model="swimmer">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
  <default>
    <geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"/>
    <joint armature='0.1'  />
  </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="30 30" 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 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
    <!--  ================= SWIMMER ================= /-->
    <body name="torso" pos="0 0 0">
      <geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
      <joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
      <joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
      <joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>
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        <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
        <joint axis="0 0 1" limited="true" name="rot0" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid1" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot1" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid2" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid3" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid4" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot4" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid5" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot5" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid6" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot6" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid7" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot7" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid8" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot8" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid9" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot9" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid10" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot10" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid11" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot11" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid12" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot12" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid13" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot13" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid14" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot14" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid15" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot15" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid16" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot16" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid17" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot17" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid18" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot18" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid19" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot19" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid20" pos="-1 0 0">
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          <joint axis="0 0 -1" limited="true" name="rot20" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid21" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot21" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid22" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot22" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid23" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
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        <body name="mid24" pos="-1 0 0">
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        <body name="mid25" pos="-1 0 0">
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        <body name="mid26" pos="-1 0 0">
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        <body name="mid27" pos="-1 0 0">
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          <joint axis="0 0 1" limited="true" name="rot27" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid28" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 -1" limited="true" name="rot28" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid29" pos="-1 0 0">
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          <joint axis="0 0 1" limited="true" name="rot29" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="mid30" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
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        <body name="mid31" pos="-1 0 0">
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        <body name="mid32" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
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        <body name="mid33" pos="-1 0 0">
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        <body name="mid34" pos="-1 0 0">
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        <body name="mid35" pos="-1 0 0">
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        <body name="mid36" pos="-1 0 0">
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        <body name="mid37" pos="-1 0 0">
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        <body name="mid40" pos="-1 0 0">
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        <body name="mid41" pos="-1 0 0">
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        <body name="mid48" pos="-1 0 0">
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	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot92"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot93"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot94"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot95"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot96"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot97"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot98"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot99"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot100"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot101"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot102"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot103"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot104"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot105"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot106"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot107"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot108"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot109"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot110"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot111"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot112"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot113"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot114"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot115"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot116"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot117"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot118"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot119"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot120"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot121"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot122"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot123"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot124"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot125"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot126"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot127"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot128"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot129"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot130"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot131"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot132"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot133"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot134"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot135"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot136"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot137"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot138"/>
	 <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot139"/>

  </actuator>
</mujoco>