<mujoco>
    <option gravity="0 0 0" timestep="0.005"/>
<default>
<geom rgba="0 0 0 1"/>
</default>
    <worldbody>
 	<light diffuse=".2 .2 .2" pos="0 0 20" dir="0 0 -1" mode="track"/> 
	<body>
	  <geom name='floor' pos='0 0 -0.4' size='10 10 .1' mass="10000" type='box' condim='3' rgba=".9 .9 .9 1"/>    
	</body>
	<body>
	  <geom name='wall1' pos='-10.1 0 -0.2' size='.1 10.1 .5' mass="10000" type='box' condim='3'/> 
	</body>
	<body>   
	  <geom name='wall2' pos='10.1 0 -0.2' size='.1 10.1 .5' mass="10000" type='box' condim='3'/>   
	</body>
	<body> 
	  <geom name='wall3' pos='0 -10 -0.2' size='10 .1 .5' mass="10000" type='box' condim='3'/>  
	</body>
	<body>  
	  <geom name='wall4' pos='0 10 -0.2' size='10 .1 .5' mass="10000" type='box' condim='3'/>   
	</body>
 	<body name="prey" pos="0 0 0">
            <joint axis="1 0 0" damping="0" name="prey0" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" damping="0" name="prey1" pos="0 0 0" type="slide"/>
      <!--      <joint axis="0 0 1" damping="0" name="prey2" pos="0 0 0" type="slide"/> -->
            <geom type="sphere" size="0.2" mass="8" rgba="0 1 0 1"/>
        </body>
	<body name="predator" pos="3.5 3.5 0">           
            <joint axis="1 0 0" damping="0" name="predator0" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" damping="0" name="predator1" pos="0 0 0" type="slide"/>
      <!--      <joint axis="0 0 1" damping="0" name="predator2" pos="0 0 0" type="slide"/> -->
            <geom type="sphere" size="0.2" mass="10" rgba="1 0 0 1"/>
    	    <site name="end1" pos="0 0 0" type="sphere" size="0.01"/>
        </body>
	<body name="dragger" pos="4.5 4.5 0">
            <joint axis="1 0 0" damping="0" name="dragger0" pos="0 0 0" type="slide"/>
            <joint axis="0 1 0" damping="0" name="dragger1" pos="0 0 0" type="slide"/>
      <!--      <joint axis="0 0 1" damping="0" name="dragger2" pos="0 0 0" type="slide"/> -->
            <geom type="sphere" size="0.2" mass="20" rgba="0 0 1 1"/>
 	    <site name="end2" pos="0 0 0" type="sphere" size="0.01"/>	
        </body>	


<!--site part-->
        <body name="middle9" pos="4.4 4.4 0">
		<joint axis="1 0 0" damping="0" name="middle9x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle9y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle9" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
	<body name="middle8" pos="4.3 4.3 0">
		<joint axis="1 0 0" damping="0" name="middle8x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle8y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle8" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
	<body name="middle7" pos="4.2 4.2 0">
		<joint axis="1 0 0" damping="0" name="middle7x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle7y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle7" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
	<body name="middle6" pos="4.1 4.1 0">
		<joint axis="1 0 0" damping="0" name="middle6x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle6y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle6" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
        <body name="middle5" pos="4.0 4.0 0">
		<joint axis="1 0 0" damping="0" name="middle5x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle5y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle5" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
	<body name="middle4" pos="3.9 3.9 0">
		<joint axis="1 0 0" damping="0" name="middle4x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle4y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle4" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
	<body name="middle3" pos="3.8 3.8 0">
		<joint axis="1 0 0" damping="0" name="middle3x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle3y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle3" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
	<body name="middle2" pos="3.7 3.7 0">
		<joint axis="1 0 0" damping="0" name="middle2x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle2y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle2" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
	<body name="middle1" pos="3.6 3.6 0">
		<joint axis="1 0 0" damping="0" name="middle1x" pos="0 0 0" type="slide"/>
                <joint axis="0 1 0" damping="0" name="middle1y" pos="0 0 0" type="slide"/>
		<geom type="sphere" size="0.01" mass="0.1" rgba="0 .9 0 1"/>
  		<site name="middle1" pos="0 0 0" type="sphere" size="0.01"/>
	</body>
    </worldbody>


<!--tendon part-->
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="end1"/>
            <site site="middle1"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle1"/>
            <site site="middle2"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle2"/>
            <site site="middle3"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle3"/>
            <site site="middle4"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle4"/>
            <site site="middle5"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle5"/>
            <site site="middle6"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle6"/>
            <site site="middle7"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle7"/>
            <site site="middle8"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle8"/>
            <site site="middle9"/>
        </spatial>
    </tendon>
    <tendon>
        <spatial limited="true" range="0 .25" stiffness="10" damping=".6" width="0.01">
            <site site="middle9"/>
            <site site="end2"/>
        </spatial>
    </tendon>


    <actuator>
     

        <motor gear="10" joint="prey0"/>
        <motor gear="10" joint="prey1"/>

   	<motor gear="10" joint="predator0"/>
        <motor gear="10" joint="predator1"/>

        <motor gear="10" joint="dragger0"/>
        <motor gear="10" joint="dragger1"/>

 	<motor gear="1" joint="middle9x"/>
        <motor gear="1" joint="middle9y"/>

 	<motor gear="1" joint="middle8x"/>
        <motor gear="1" joint="middle8y"/>

 	<motor gear="1" joint="middle7x"/>
        <motor gear="1" joint="middle7y"/>

 	<motor gear="1" joint="middle6x"/>
        <motor gear="1" joint="middle6y"/>

 	<motor gear="1" joint="middle5x"/>
        <motor gear="1" joint="middle5y"/>

 	<motor gear="1" joint="middle4x"/>
        <motor gear="1" joint="middle4y"/>

 	<motor gear="1" joint="middle3x"/>
        <motor gear="1" joint="middle3y"/>

 	<motor gear="1" joint="middle2x"/>
        <motor gear="1" joint="middle2y"/>

 	<motor gear="1" joint="middle1x"/>
        <motor gear="1" joint="middle1y"/>
    </actuator>
</mujoco>.
