
<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"/>
    <body name="podBody_1" pos="0 0 0">
      <geom name='pod_1' density="1000" fromto="0 0 0 -1 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_1" pos="-1.5 0 0" type="hinge"/>
      <site name="tip" pos="0 0 0" size="0.02 0.02"/>
      <body name="podBody_2" pos="-1 0 0">
        <geom name='pod_2' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
        <joint axis="0 0 1" limited="true" name="rot_2" pos="0 0 0" range="-100 100" type="hinge"/>
        
        <body name="podBody_3" pos="-1 0 0">
          <geom name='pod_3' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="rot_3" pos="0 0 0" range="-100 100" type="hinge"/>
        
          
          <body name="podBody_4" pos="-1 0 0">
            <geom name='pod_4' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
            <joint axis="0 0 1" limited="true" name="rot_4" pos="0 0 0" range="-100 100" type="hinge"/>
          
            
            <body name="podBody_5" pos="-1 0 0">
              <geom name='pod_5' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
              <joint axis="0 0 1" limited="true" name="rot_5" pos="0 0 0" range="-100 100" type="hinge"/>
            
              
              <body name="podBody_6" pos="-1 0 0">
                <geom name='pod_6' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                <joint axis="0 0 1" limited="true" name="rot_6" pos="0 0 0" range="-100 100" type="hinge"/>
              
                
                <body name="podBody_7" pos="-1 0 0">
                  <geom name='pod_7' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                  <joint axis="0 0 1" limited="true" name="rot_7" pos="0 0 0" range="-100 100" type="hinge"/>
                
                  
                  <body name="podBody_8" pos="-1 0 0">
                    <geom name='pod_8' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                    <joint axis="0 0 1" limited="true" name="rot_8" pos="0 0 0" range="-100 100" type="hinge"/>
                  
                    
                    <body name="podBody_9" pos="-1 0 0">
                      <geom name='pod_9' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                      <joint axis="0 0 1" limited="true" name="rot_9" pos="0 0 0" range="-100 100" type="hinge"/>
                    
                      
                      <body name="podBody_10" pos="-1 0 0">
                        <geom name='pod_10' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                        <joint axis="0 0 1" limited="true" name="rot_10" pos="0 0 0" range="-100 100" type="hinge"/>
                      
                        
                        <body name="podBody_11" pos="-1 0 0">
                          <geom name='pod_11' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                          <joint axis="0 0 1" limited="true" name="rot_11" pos="0 0 0" range="-100 100" type="hinge"/>
                        
                          
                          <body name="podBody_12" pos="-1 0 0">
                            <geom name='pod_12' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                            <joint axis="0 0 1" limited="true" name="rot_12" pos="0 0 0" range="-100 100" type="hinge"/>
                          
                            
                            <body name="podBody_13" pos="-1 0 0">
                              <geom name='pod_13' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                              <joint axis="0 0 1" limited="true" name="rot_13" pos="0 0 0" range="-100 100" type="hinge"/>
                            
                              
                              <body name="podBody_14" pos="-1 0 0">
                                <geom name='pod_14' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                <joint axis="0 0 1" limited="true" name="rot_14" pos="0 0 0" range="-100 100" type="hinge"/>
                              
                                
                                <body name="podBody_15" pos="-1 0 0">
                                  <geom name='pod_15' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                  <joint axis="0 0 1" limited="true" name="rot_15" pos="0 0 0" range="-100 100" type="hinge"/>
                                
                                  
                                  <body name="podBody_16" pos="-1 0 0">
                                    <geom name='pod_16' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                    <joint axis="0 0 1" limited="true" name="rot_16" pos="0 0 0" range="-100 100" type="hinge"/>
                                  
                                    
                                    <body name="podBody_17" pos="-1 0 0">
                                      <geom name='pod_17' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                      <joint axis="0 0 1" limited="true" name="rot_17" pos="0 0 0" range="-100 100" type="hinge"/>
                                    
                                      
                                      <body name="podBody_18" pos="-1 0 0">
                                        <geom name='pod_18' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                        <joint axis="0 0 1" limited="true" name="rot_18" pos="0 0 0" range="-100 100" type="hinge"/>
                                      
                                        
                                        <body name="podBody_19" pos="-1 0 0">
                                          <geom name='pod_19' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                          <joint axis="0 0 1" limited="true" name="rot_19" pos="0 0 0" range="-100 100" type="hinge"/>
                                        
                                          
                                          <body name="podBody_20" pos="-1 0 0">
                                            <geom name='pod_20' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                            <joint axis="0 0 1" limited="true" name="rot_20" pos="0 0 0" range="-100 100" type="hinge"/>
                                          
                                            
                                            <body name="podBody_21" pos="-1 0 0">
                                              <geom name='pod_21' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                              <joint axis="0 0 1" limited="true" name="rot_21" pos="0 0 0" range="-100 100" type="hinge"/>
                                            
                                              
                                              <body name="podBody_22" pos="-1 0 0">
                                                <geom name='pod_22' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                <joint axis="0 0 1" limited="true" name="rot_22" pos="0 0 0" range="-100 100" type="hinge"/>
                                              
                                                
                                                <body name="podBody_23" pos="-1 0 0">
                                                  <geom name='pod_23' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                  <joint axis="0 0 1" limited="true" name="rot_23" pos="0 0 0" range="-100 100" type="hinge"/>
                                                
                                                  
                                                  <body name="podBody_24" pos="-1 0 0">
                                                    <geom name='pod_24' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                    <joint axis="0 0 1" limited="true" name="rot_24" pos="0 0 0" range="-100 100" type="hinge"/>
                                                  
                                                    
                                                    <body name="podBody_25" pos="-1 0 0">
                                                      <geom name='pod_25' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                      <joint axis="0 0 1" limited="true" name="rot_25" pos="0 0 0" range="-100 100" type="hinge"/>
                                                    
                                                      
                                                      <body name="podBody_26" pos="-1 0 0">
                                                        <geom name='pod_26' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                        <joint axis="0 0 1" limited="true" name="rot_26" pos="0 0 0" range="-100 100" type="hinge"/>
                                                      
                                                        
                                                        <body name="podBody_27" pos="-1 0 0">
                                                          <geom name='pod_27' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                          <joint axis="0 0 1" limited="true" name="rot_27" pos="0 0 0" range="-100 100" type="hinge"/>
                                                        
                                                          
                                                          <body name="podBody_28" pos="-1 0 0">
                                                            <geom name='pod_28' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                            <joint axis="0 0 1" limited="true" name="rot_28" pos="0 0 0" range="-100 100" type="hinge"/>
                                                          
                                                            
                                                            <body name="podBody_29" pos="-1 0 0">
                                                              <geom name='pod_29' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                              <joint axis="0 0 1" limited="true" name="rot_29" pos="0 0 0" range="-100 100" type="hinge"/>
                                                            
                                                              
                                                              <body name="podBody_30" pos="-1 0 0">
                                                                <geom name='pod_30' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                <joint axis="0 0 1" limited="true" name="rot_30" pos="0 0 0" range="-100 100" type="hinge"/>
                                                              
                                                                
                                                                <body name="podBody_31" pos="-1 0 0">
                                                                  <geom name='pod_31' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                  <joint axis="0 0 1" limited="true" name="rot_31" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                
                                                                  
                                                                  <body name="podBody_32" pos="-1 0 0">
                                                                    <geom name='pod_32' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                    <joint axis="0 0 1" limited="true" name="rot_32" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                  
                                                                    
                                                                    <body name="podBody_33" pos="-1 0 0">
                                                                      <geom name='pod_33' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                      <joint axis="0 0 1" limited="true" name="rot_33" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                    
                                                                      
                                                                      <body name="podBody_34" pos="-1 0 0">
                                                                        <geom name='pod_34' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                        <joint axis="0 0 1" limited="true" name="rot_34" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                      
                                                                        
                                                                        <body name="podBody_35" pos="-1 0 0">
                                                                          <geom name='pod_35' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                          <joint axis="0 0 1" limited="true" name="rot_35" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                        
                                                                          
                                                                          <body name="podBody_36" pos="-1 0 0">
                                                                            <geom name='pod_36' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                            <joint axis="0 0 1" limited="true" name="rot_36" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                          
                                                                            
                                                                            <body name="podBody_37" pos="-1 0 0">
                                                                              <geom name='pod_37' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                              <joint axis="0 0 1" limited="true" name="rot_37" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                            
                                                                              
                                                                              <body name="podBody_38" pos="-1 0 0">
                                                                                <geom name='pod_38' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                                <joint axis="0 0 1" limited="true" name="rot_38" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                              
                                                                                
                                                                                <body name="podBody_39" pos="-1 0 0">
                                                                                  <geom name='pod_39' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                                  <joint axis="0 0 1" limited="true" name="rot_39" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                                
                                                                                  
                                                                                  <body name="podBody_40" pos="-1 0 0">
                                                                                    <geom name='pod_40' density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
                                                                                    <joint axis="0 0 1" limited="true" name="rot_40" pos="0 0 0" range="-100 100" type="hinge"/>
                                                                                  
                                                                                  </body>
                                                                                </body>
                                                                              </body>
                                                                            </body>
                                                                          </body>
                                                                        </body>
                                                                      </body>
                                                                    </body>
                                                                  </body>
                                                                </body>
                                                              </body>
                                                            </body>
                                                          </body>
                                                        </body>
                                                      </body>
                                                    </body>
                                                  </body>
                                                </body>
                                              </body>
                                            </body>
                                          </body>
                                        </body>
                                      </body>
                                    </body>
                                  </body>
                                </body>
                              </body>
                            </body>
                          </body>
                        </body>
                      </body>
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>

      </body>
    </body>
  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_2"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_3"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_4"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_5"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_6"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_7"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_8"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_9"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_10"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_11"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_12"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_13"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_14"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_15"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_16"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_17"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_18"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_19"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_20"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_21"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_22"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_23"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_24"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_25"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_26"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_27"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_28"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_29"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_30"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_31"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_32"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_33"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_34"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_35"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_36"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_37"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_38"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_39"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot_40"/>
  </actuator>

</mujoco>
