<?xml version="1.0" encoding="utf-8"?>
<mujoco model="swimmer">
	<compiler angle="degree" coordinate="local" inertiafromgeom="true"></compiler>
	<option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"></option>
	<default>
		<geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"></geom>
		<joint armature="0.1"></joint>
	</default>
	<asset>
		<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"></texture>
		<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>
		<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"></texture>
		<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"></material>
		<material name="geom" texture="texgeom" texuniform="true"></material>
	</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"></light>
		<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="41.690072015990545 39.90287222928622 0.10187181182009282" type="plane"></geom>
		<body name="torso" pos="0 0 0">
			<camera name="track" mode="trackcom" pos="0 -3 3" xyaxes="1 0 0 0 1 1"></camera>
			<geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.09642230391460721" type="capsule"></geom>
			<joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"></joint>
			<joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"></joint>
			<joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"></joint>
			<body name="mid" pos="0.5 0 0">
				<geom density="1000" fromto="0 0 0 -1 0 0" size="0.09868351126117764" type="capsule"></geom>
				<joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"></joint>
				<body name="back" pos="-1 0 0">
					<geom density="1000" fromto="0 0 0 -1 0 0" size="0.09992843808668045" type="capsule"></geom>
					<joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"></joint>
				</body>
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot2"></motor>
		<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"></motor>
	</actuator>
</mujoco>