
<mujoco>
<!--    <default class="main">-->
<!--        <geom rgba="1 0 0 1"/>-->
<!--&lt;!&ndash;        <geom rgba="255 255 255 1"/>&ndash;&gt;-->
<!--        <default class="sub">-->
<!--            <geom rgba="0 1 0 1"/>-->
<!--        </default>-->
<!--    </default>-->

  <include file="./common/visual.xml"/>
  <include file="./common/skybox.xml"/>
  <include file="./common/materials.xml"/>
    <asset>
         <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
        <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
            width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
         <texture name="background" builtin="flat" type="2d" mark="random" markrgb="1 1 1" width="800" height="800" rgb1=".2 .3 .4"/>
        <material name="background" texture="background" texrepeat="1 1" texuniform="true"/>
<!--         <texture name="textablecenter" type="2d" file="table_center_10.png"/>-->

<!--        <material name="tablecenter"  texture="textablecenter" />-->
    </asset>
    <default>
           <geom rgba="255 255 255 1"/>
        <default class="sub">
            <geom rgba="0 1 0 1"/>
        </default>
    </default>
  <worldbody>
       <camera name="fixed" pos="0 0 .73" quat="1 0 0 0"/>
      <light name="light" directional="true" diffuse="0 .0 .0" pos="0 0 .5" specular="0 .0 .0"/>
    <geom name="ground" type="plane" pos="0 0 0" size=".6 .6 .1" rgba="0.18 0.545 0.341 1"/>
    <geom name="wall_x" type="plane" pos="-.3 0 .02" zaxis="1 0 0"  size=".02 .3 .02" rgba="1 1 1 1"/>
    <geom name="wall_y" type="plane" pos="0 -.3 .02" zaxis="0 1 0"  size=".3 .02 .02" rgba="1 1 1 1"/>
    <geom name="wall_neg_x" type="plane" pos=".3 0 .02" zaxis="-1 0 0"  size=".02 .3 .02" rgba="1 1 1 1"/>
    <geom name="wall_neg_y" type="plane" pos="0 .3 .02" zaxis="0 -1 0"  size=".3 .02 .02" rgba="1 1 1 1"/>
<!--    <geom name="target" pos="0 0 .01" type="sphere" size=".06" rgba=".6 .3 .3 1"/>-->
    <!--  ================= SWIMMER ================= /-->
    <body name="B10" pos="0 0 0">
         <camera name="track" mode="trackcom" pos="0 -1 1" xyaxes="1 0 0 0 1 1" />
<!--        <joint type="slide"  pos="0 0 1" name="slider1" axis="0 0 1"/>-->
        <freejoint name="r1"/>
<!--        <composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">-->

        <composite type="rope" count="25 1 1" spacing="0.02" offset="0 0 2">
            <joint kind="main" damping="0.005"/>
<!--            rgba="0.8 0.2 0.1 1-->
<!--                    <skin rgba="0.6 1 0.6 1" texcoord="true" inflate="0.005" subgrid="2"/>-->

<!--            <geom type="capsule" size=".01 .015" rgba=" 1. 0 0 1"/>-->
            <geom type="capsule" size=".008 .01" rgba=" 1 0.871 0.678 1"/>

<!--            <pin coord="1" />-->
<!--            <pin coord="2" />-->
<!--            <pin coord="3" />-->
<!--            <pin coord="4" />-->
<!--            <pin coord="5" />-->
<!--            <pin coord="6" />-->
<!--            <pin coord="7" />-->
<!--            <pin coord="21"/>-->
        </composite>
<!--        <body name="head" pos="-1 0 1">-->
<!--           <geom density="30" fromto="0 0 0 -1 0 0" size="0.04" type="capsule"/>-->
<!--               <joint type="slide"  name="slider1" axis="0 0 1"/>-->

<!--            </body>-->
    </body>
    <body name="obs1">
            <geom conaffinity="1" contype="1" pos=".1 .1 0.015" size="0.03 0.03 0.03" rgba="1.0  0.0 0.0 1" type="box" />
        </body>
    <body name="obs2">
            <geom conaffinity="1" contype="1" pos="-.1 .1 0.015" size="0.03 0.03 0.03" rgba="1.0  0.0 0.0 1" type="box" />
        </body>
    <body name="obs3">
            <geom conaffinity="1" contype="1" pos=".1 -.1 0.015" size="0.03 0.03 0.03" rgba="1.0  0.0 0.0 1" type="box" />
        </body>
    <body name="obs4">
            <geom conaffinity="1" contype="1" pos="-.1 -.1 0.015." size="0.03 0.03 0.03" rgba="1.0  0.0 0.0 1" type="box" />
        </body>

<!--    <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"/>-->
<!--      <body name="mid" pos="0.5 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="back" 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>-->
<!--      </body>-->
<!--    </body>-->
  </worldbody>
  <sensor>

  </sensor>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="10.0" joint="r1"/>
<!--    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"/>-->
<!--      <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="r1"/>-->
  </actuator>
<!--    <worldbody>-->

<!--        <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1" directional="true" exponent="1" pos="0 0 0.0" specular=".1 .1 .1"/>-->

<!--        <geom rgba="0.1 0.1 .1 1." conaffinity="1" density='0.' contype="1" condim="1" name="table" pos="0 0.0 0." size="2.8 2.8 0.1" type="plane" />-->

<!--        <body name="B10" pos="0 0 1">-->
<!--            <freejoint/>-->
<!--            <composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">-->
<!--                <joint kind="main" damping="0.005" />-->
<!--                <geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>-->
<!--            </composite>-->
<!--        </body>-->
<!--        <body name="back" 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>-->
<!--    </worldbody>-->
<!--    <actuator>-->
<!--        <general joint="rot3"  ctrlrange="-1 1" ctrllimited="True"/>-->
<!--    </actuator>-->
</mujoco>
<!--    # rope object-->

<!--    </body>-->
<!--            <composite type="grid" count="11 9 1" spacing="0.2" offset="0. 0. 0">-->
<!--            <skin texcoord="true" material="mathammock" inflate="0.01" subgrid="3"/>-->
<!--            <pin coord="0 0"/>-->
<!--            <pin coord="10 0"/>-->
<!--            <pin coord="0 8"/>-->
<!--            <pin coord="10 8"/>-->
<!--            <geom size=".095"/>-->
<!--            <joint kind="main" damping="10"/>-->
<!--        </composite>-->

<!--</mujoco>-->
