<mujoco model="mutiagent_world">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true" />
  <option integrator="RK4" iterations="1000" solver="PGS" timestep="0.003" />
  <!-- <option integrator="RK4" iterations="1000" timestep="0.01" /> -->
  <default>
    <joint armature="1" damping="1" limited="true" />
  <default class="agent0"><joint armature="1" damping="1" limited="true" />
    <geom conaffinity="1" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.5 0.25 0.25 1" />
    <motor ctrllimited="true" ctrlrange="-.4 .4" />
</default><default class="agent1"><joint armature="1" damping="1" limited="true" />
    <geom conaffinity="1" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.25 0.5 0.5 1" />
    <motor ctrllimited="true" ctrlrange="-.4 .4" />
</default></default>
  <asset>
    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="1 1 1" 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=".1 .1 .1" rgb2=".3 .3 0.3" 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=".1 .1 .1" />
    <geom conaffinity="1" condim="3" contype="1" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane" />
    <geom fromto="4 -5 0  4 +5 0" name="rightgoal" rgba="0.6 0.0 0.0 0" size=".03" type="cylinder" />
    <geom fromto="-4 -5 0  -4 +5 0" name="leftgoal" rgba="0.6 0.0 0.0 0" size=".03" type="cylinder" />
    <geom conaffinity="0xffffffff" condim="3" contype="1" friction="1 .1 .1" name="arena" pos="0 0 0.25" rgba="0.5 0.5 0.5 0.8" size="4.5 .25" type="cylinder" />
  <body euler="0 0 180" name="agent0/torso" pos="-1 0 2.5">
  <geom class="agent0" name="agent0/torso_geom" pos="0 0 0" size="0.25" type="sphere" />
  <joint armature="0" damping="0" limited="false" margin="0.01" name="agent0/root" pos="0 0 0" range="-30 30" type="free" />
  <body name="agent0/front_left_leg" pos="0 0 0">
    <geom class="agent0" fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="agent0/aux_1_geom" size="0.08" type="capsule" />
    <body name="agent0/aux_1" pos="0.2 0.2 0">
      <joint axis="0 0 1" name="agent0/hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge" />
      <geom class="agent0" fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="agent0/left_leg_geom" size="0.08" type="capsule" />
      <body name="agent0/anon6468491858" pos="0.2 0.2 0">
        <joint axis="-1 1 0" name="agent0/ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge" />
        <geom class="agent0" fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="agent0/left_ankle_geom" size="0.08" type="capsule" />
      </body>
    </body>
  </body>
  <body name="agent0/front_right_leg" pos="0 0 0">
    <geom class="agent0" fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="agent0/aux_2_geom" size="0.08" type="capsule" />
    <body name="agent0/aux_2" pos="-0.2 0.2 0">
      <joint axis="0 0 1" name="agent0/hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge" />
      <geom class="agent0" fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="agent0/right_leg_geom" size="0.08" type="capsule" />
      <body name="agent0/anon8327183619" pos="-0.2 0.2 0">
        <joint axis="1 1 0" name="agent0/ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge" />
        <geom class="agent0" fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="agent0/right_ankle_geom" size="0.08" type="capsule" />
      </body>
    </body>
  </body>
  <body name="agent0/back_leg" pos="0 0 0">
    <geom class="agent0" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="agent0/aux_3_geom" size="0.08" type="capsule" />
    <body name="agent0/aux_3" pos="-0.2 -0.2 0">
      <joint axis="0 0 1" name="agent0/hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge" />
      <geom class="agent0" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="agent0/back_leg_geom" size="0.08" type="capsule" />
      <body name="agent0/anon3529148993" pos="-0.2 -0.2 0">
        <joint axis="-1 1 0" name="agent0/ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge" />
        <geom class="agent0" fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="agent0/third_ankle_geom" size="0.08" type="capsule" />
      </body>
    </body>
  </body>
  <body name="agent0/right_back_leg" pos="0 0 0">
    <geom class="agent0" fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="agent0/aux_4_geom" size="0.08" type="capsule" />
    <body name="agent0/aux_4" pos="0.2 -0.2 0">
      <joint axis="0 0 1" name="agent0/hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge" />
      <geom class="agent0" fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="agent0/rightback_leg_geom" size="0.08" type="capsule" />
      <body name="agent0/anon2682311390" pos="0.2 -0.2 0">
        <joint axis="1 1 0" name="agent0/ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge" />
        <geom class="agent0" fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="agent0/fourth_ankle_geom" size="0.08" type="capsule" />
      </body>
    </body>
  </body>
</body>

<body euler="0 0 180" name="agent1/torso" pos="1 0 2.5">
  <geom class="agent1" name="agent1/torso_geom" pos="0 0 0" size="0.25" type="sphere" />
  <joint armature="0" damping="0" limited="false" margin="0.01" name="agent1/root" pos="0 0 0" range="-30 30" type="free" />
  <body name="agent1/front_left_leg" pos="0 0 0">
    <geom class="agent1" fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="agent1/aux_1_geom" size="0.08" type="capsule" />
    <body name="agent1/aux_1" pos="0.2 0.2 0">
      <joint axis="0 0 1" name="agent1/hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge" />
      <geom class="agent1" fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="agent1/left_leg_geom" size="0.08" type="capsule" />
      <body name="agent1/anon4924924648" pos="0.2 0.2 0">
        <joint axis="-1 1 0" name="agent1/ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge" />
        <geom class="agent1" fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="agent1/left_ankle_geom" size="0.08" type="capsule" />
      </body>
    </body>
  </body>
  <body name="agent1/front_right_leg" pos="0 0 0">
    <geom class="agent1" fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="agent1/aux_2_geom" size="0.08" type="capsule" />
    <body name="agent1/aux_2" pos="-0.2 0.2 0">
      <joint axis="0 0 1" name="agent1/hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge" />
      <geom class="agent1" fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="agent1/right_leg_geom" size="0.08" type="capsule" />
      <body name="agent1/anon8388957137" pos="-0.2 0.2 0">
        <joint axis="1 1 0" name="agent1/ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge" />
        <geom class="agent1" fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="agent1/right_ankle_geom" size="0.08" type="capsule" />
      </body>
    </body>
  </body>
  <body name="agent1/back_leg" pos="0 0 0">
    <geom class="agent1" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="agent1/aux_3_geom" size="0.08" type="capsule" />
    <body name="agent1/aux_3" pos="-0.2 -0.2 0">
      <joint axis="0 0 1" name="agent1/hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge" />
      <geom class="agent1" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="agent1/back_leg_geom" size="0.08" type="capsule" />
      <body name="agent1/anon750629673" pos="-0.2 -0.2 0">
        <joint axis="-1 1 0" name="agent1/ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge" />
        <geom class="agent1" fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="agent1/third_ankle_geom" size="0.08" type="capsule" />
      </body>
    </body>
  </body>
  <body name="agent1/right_back_leg" pos="0 0 0">
    <geom class="agent1" fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="agent1/aux_4_geom" size="0.08" type="capsule" />
    <body name="agent1/aux_4" pos="0.2 -0.2 0">
      <joint axis="0 0 1" name="agent1/hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge" />
      <geom class="agent1" fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="agent1/rightback_leg_geom" size="0.08" type="capsule" />
      <body name="agent1/anon8191154389" pos="0.2 -0.2 0">
        <joint axis="1 1 0" name="agent1/ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge" />
        <geom class="agent1" fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="agent1/fourth_ankle_geom" size="0.08" type="capsule" />
      </body>
    </body>
  </body>
</body>

</worldbody>
<actuator>
  <motor class="agent0" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent0/hip_4" />
  <motor class="agent0" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent0/ankle_4" />
  <motor class="agent0" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent0/hip_1" />
  <motor class="agent0" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent0/ankle_1" />
  <motor class="agent0" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent0/hip_2" />
  <motor class="agent0" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent0/ankle_2" />
  <motor class="agent0" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent0/hip_3" />
  <motor class="agent0" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent0/ankle_3" />
<motor class="agent1" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent1/hip_4" />
  <motor class="agent1" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent1/ankle_4" />
  <motor class="agent1" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent1/hip_1" />
  <motor class="agent1" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent1/ankle_1" />
  <motor class="agent1" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent1/hip_2" />
  <motor class="agent1" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent1/ankle_2" />
  <motor class="agent1" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent1/hip_3" />
  <motor class="agent1" ctrllimited="true" ctrlrange="-1.0 1.0" gear="150" joint="agent1/ankle_3" />
</actuator>

</mujoco>
