<mujoco model="t2d1_3d">
    <include file="./common/visual.xml"/>
    <include file="./common/skybox.xml"/>
    <include file="./common/materials.xml"/>
    
    <option timestep="0.01" iterations="50" solver="Newton" tolerance="1e-10" gravity="0 0 0" collision="predefined" viscosity="0.0" integrator="Euler"/>

    <size njmax="200" nconmax="100" nstack="80000"/>

    <visual>
        <rgba haze=".15 .25 .35 1"/>
    </visual>

    <default>
        <joint type="ball" pos="0 0 0" limited="false" damping="0.1"/>
        <motor ctrllimited="false" ctrlrange="-1 1" gear="1"/>
		<tendon stiffness="0" damping="0.2" width="0.02"/>
		<geom size="0.02" mass=".1" material="self"/>
		<site size="0.04"/>
    </default>

    <worldbody>
        <light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>

        <body pos="0 0 0">
            <geom name="lbar1" type="capsule" fromto="0 0 0  -1 1 1"/>
			<site name="lb1e" pos="-1 1 1"/>
			<joint name="lj1"/>
            <body name="lbar2" pos="-1 1 1">
                <geom name="lbar2" type="capsule" fromto="0 0 0  1 -1 1"/>
                <joint name="lj2"/>
                <site name="lb2e" pos="1 -1 1"/>
				<body pos="1 -1 1">
					<geom name="lbar3" type="capsule" fromto="0 0 0  -1 1 0"/>
					<joint name="lj3"/>
					<site name="lb3e" pos="-1 1 0"/>
				</body>
				<body pos="1 -1 1">
					<geom name="mbar3" type="capsule" fromto="0 0 0  0 -1.414 0"/>
					<joint name="mj3"/>
					<site name="mb3e" pos="0 -1.414 0"/>
				</body>
                <body pos="1 -1 1">
					<geom name="rbar3" type="capsule" fromto="0 0 0  1 1 0"/>
					<joint name="rj3"/>
					<site name="rb3e" pos="1 1 0"/>
				</body>
                <body pos="1 -1 1">
					<geom name="lbar4" type="capsule" fromto="0 0 0  -1 1 1"/>
					<joint name="lj4"/>
					<site name="lb4e" pos="-1 1 1"/>
                    <body name="lbar5" pos="-1 1 1">
                        <geom name="lbar5" type="capsule" fromto="0 0 0  1 -1 1"/>
                        <joint name="lj5"/>
                        <site name="lb5e" pos="1 -1 1"/>
						<body name="lbar6" pos="1 -1 1">
							<geom name="lbar6" type="capsule" fromto="0 0 0  -2 2 0"/>
							<joint name="lj6"/>
							<site name="lb6e" pos="-2 2 0"/>
						</body>
						<body name="mbar6" pos="1 -1 1">
							<geom name="mbar6" type="capsule" fromto="0 0 0  0 -2.828 0"/>
							<joint name="mj6"/>
							<site name="mb6e" pos="0 -2.828 0"/>
						</body>
						<body name="rbar6" pos="1 -1 1">
							<geom name="rbar6" type="capsule" fromto="0 0 0  2 2 0"/>
							<joint name="rj6"/>
							<site name="rb6e" pos="2 2 0"/>
						</body>
						<body name="lbar7" pos="1 -1 1">
							<geom name="lbar7" type="capsule" fromto="0 0 0  -1 1 1"/>
							<joint name="lj7"/>
							<site name="lb7e" pos="-1 1 1"/>
							<body name="lbar8" pos="-1 1 1">
								<geom name="lbar8" type="capsule" fromto="0 0 0  1 -1 1"/>
								<joint name="lj8"/>
								<site name="lb8e" pos="1 -1 1"/>
								<body name="lbar9" pos="1 -1 1">
									<geom name="lbar9" type="capsule" fromto="0 0 0  -1 1 0"/>
									<joint name="lj9"/>
									<site name="lb9e" pos="-1 1 0"/>
								</body>
								<body name="mbar9" pos="1 -1 1">
									<geom name="mbar9" type="capsule" fromto="0 0 0  0 -1.414 0"/>
									<joint name="mj9"/>
									<site name="mb9e" pos="0 -1.414 0"/>
								</body>
								<body name="rbar9" pos="1 -1 1">
									<geom name="rbar9" type="capsule" fromto="0 0 0  1 1 0"/>
									<joint name="rj9"/>
									<site name="rb9e" pos="1 1 0"/>
								</body>
								<body name="lbar10" pos="1 -1 1">
									<geom name="lbar10" type="capsule" fromto="0 0 0  -1 1 1"/>
									<joint name="lj10"/>
									<site name="lb10e" pos="-1 1 1"/>
									<body name="lbar11" pos="-1 1 1">
										<geom name="lbar11" type="capsule" fromto="0 0 0  1 -1 1"/>
										<joint name="lj11"/>
										<site name="lb11e" pos="1 -1 1"/>
									</body>
								</body>
							</body>
						</body>
                    </body>
				</body>
            </body>
        </body>
        
        <body pos="0 0 0">
            <geom name="mbar1" type="capsule" fromto="0 0 0  0 -1.414 1" />
			<site name="mb1e" pos="0 -1.414 1"/>
			<joint name="mj1"/>
            <body name="mbar2" pos="0 -1.414 1">
                <geom name="mbar2" type="capsule" fromto="0 0 0  0 1.414 1"/>
                <joint name="mj2"/>
                <body pos="0 1.414 1">
					<geom name="mbar4" type="capsule" fromto="0 0 0  0 -1.414 1"/>
					<joint name="mj4"/>
					<site name="mb4e" pos="0 -1.414 1"/>
                    <body name="mbar5" pos="0 -1.414 1">
                        <geom name="mbar5" type="capsule" fromto="0 0 0  0 1.414 1"/>
                        <joint name="mj5"/>
						<body name="mbar7" pos="0 1.414 1">
							<geom name="mbar7" type="capsule" fromto="0 0 0  0 -1.414 1"/>
							<joint name="mj7"/>
							<site name="mb7e" pos="0 -1.414 1"/>
							<body name="mbar8" pos="0 -1.414 1">
								<geom name="mbar8" type="capsule" fromto="0 0 0  0 1.414 1"/>
								<joint name="mj8"/>
								<body name="mbar10" pos="0 1.414 1">
									<geom name="mbar10" type="capsule" fromto="0 0 0  0 -1.414 1"/>
									<joint name="mj10"/>
									<site name="mb10e" pos="0 -1.414 1"/>
									<body name="mbar11" pos="0 -1.414 1">
										<geom name="mbar11" type="capsule" fromto="0 0 0  0 1.414 1"/>
										<joint name="mj11"/>
									</body>
								</body>
							</body>
						</body>
                    </body>
				</body>
            </body>
        </body>

        <body pos="0 0 0">
            <geom name="rbar1" type="capsule" fromto="0 0 0  1 1 1" />
			<site name="rb1e" pos="1 1 1"/>
			<joint name="rj1"/>
            <body name="rbar2" pos="1 1 1">
                <geom name="rbar2" type="capsule" fromto="0 0 0  -1 -1 1"/>
                <joint name="rj2"/>
                <body pos="-1 -1 1">
					<geom name="rbar4" type="capsule" fromto="0 0 0  1 1 1"/>
                    <joint name="rj4"/>
					<site name="rb4e" pos="1 1 1"/>
                    <body name="rbar5" pos="1 1 1">
                        <geom name="rbar5" type="capsule" fromto="0 0 0  -1 -1 1"/>
                        <joint name="rj5"/>
						<body name="rbar7" pos="-1 -1 1">
							<geom name="rbar7" type="capsule" fromto="0 0 0  1 1 1"/>
							<joint name="rj7"/>
							<site name="rb7e" pos="1 1 1"/>
							<body name="rbar8" pos="1 1 1">
								<geom name="rbar8" type="capsule" fromto="0 0 0  -1 -1 1"/>
								<joint name="rj8"/>
								<body name="rbar10" pos="-1 -1 1">
									<geom name="rbar10" type="capsule" fromto="0 0 0  1 1 1"/>
									<joint name="rj10"/>
									<site name="rb10e" pos="1 1 1"/>
									<body name="rbar11" pos="1 1 1">
										<geom name="rbar11" type="capsule" fromto="0 0 0  -1 -1 1"/>
										<joint name="rj11"/>
									</body>
								</body>
							</body>
						</body>
                    </body>
				</body>
            </body>
        </body>
		
		<body pos="0 0 0">
			<geom name="floor" pos="0 0 0" size="0 0 1" type="plane" material="grid"/>
			<site name="target" pos=".2 0.2 7" size="0.12" rgba="1 0 0 .3"/>
			<site name="f0" pos="0 0 0"/>
			<site name="fl" pos="-4 4 0"/>
			<site name="fm" pos="0 -5.656 0"/>
            <site name="fr" pos="4 4 0"/>
		</body>
    </worldbody>
	
	<equality>
		<connect active="true" name="c1" body1="lbar2" body2="rbar2" anchor="1 -1 1"/>
        <connect active="true" name="c3" body1="lbar2" body2="mbar2" anchor="1 -1 1"/>
        <connect active="true" name="c2" body1="lbar5" body2="rbar5" anchor="1 -1 1"/>
        <connect active="true" name="c4" body1="lbar5" body2="mbar5" anchor="1 -1 1"/>
		<connect active="true" name="c5" body1="lbar8" body2="mbar8" anchor="1 -1 1"/>
        <connect active="true" name="c6" body1="lbar8" body2="rbar8" anchor="1 -1 1"/>
		<connect active="true" name="c7" body1="lbar11" body2="rbar11" anchor="1 -1 1"/>
        <connect active="true" name="c8" body1="lbar11" body2="mbar11" anchor="1 -1 1"/>
	</equality>

    <tendon>
        <spatial name="S1">
            <site site="f0"/>
            <site site="lb2e"/>
        </spatial>
		<spatial name="S2">
            <site site="rb1e"/>
            <site site="lb1e"/>
        </spatial>
        <spatial name="S3">
            <site site="mb1e"/>
            <site site="lb1e"/>
        </spatial>
        <spatial name="S4">
            <site site="mb1e"/>
            <site site="rb1e"/>
        </spatial>
		<spatial name="S5">
            <site site="lb2e"/>
            <site site="lb5e"/>
        </spatial>
		<spatial name="S6">
            <site site="rb4e"/>
            <site site="lb4e"/>
        </spatial>
        <spatial name="S7">
            <site site="mb4e"/>
            <site site="lb4e"/>
        </spatial>
        <spatial name="S8">
            <site site="mb4e"/>
            <site site="rb4e"/>
        </spatial>
        <spatial name="S9">
            <site site="f0"/>
            <site site="lb3e"/>
        </spatial>
        <spatial name="S10">
            <site site="f0"/>
            <site site="rb3e"/>
        </spatial>
        <spatial name="S11">
            <site site="f0"/>
            <site site="mb3e"/>
        </spatial>
        <spatial name="S12">
            <site site="lb5e"/>
            <site site="lb3e"/>
        </spatial>
        <spatial name="S13">
            <site site="lb5e"/>
            <site site="rb3e"/>
        </spatial>
        <spatial name="S14">
            <site site="lb5e"/>
            <site site="mb3e"/>
        </spatial>
        <spatial name="S15">
            <site site="lb3e"/>
            <site site="mb3e"/>
        </spatial>
        <spatial name="S16">
            <site site="lb3e"/>
            <site site="rb3e"/>
        </spatial>
        <spatial name="S17">
            <site site="rb3e"/>
            <site site="mb3e"/>
        </spatial>
		
		<spatial name="S18">
            <site site="lb6e"/>
            <site site="rb6e"/>
        </spatial>
        <spatial name="S19">
            <site site="lb6e"/>
            <site site="mb6e"/>
        </spatial>
        <spatial name="S20">
            <site site="rb6e"/>
            <site site="mb6e"/>
        </spatial>
		
		<spatial name="S21">
            <site site="lb6e"/>
            <site site="f0"/>
        </spatial>
        <spatial name="S22">
            <site site="mb6e"/>
            <site site="f0"/>
        </spatial>
        <spatial name="S23">
            <site site="rb6e"/>
            <site site="f0"/>
        </spatial>
		
		<spatial name="S24">
            <site site="lb6e"/>
            <site site="lb11e"/>
        </spatial> 
        <spatial name="S25">
            <site site="mb6e"/>
            <site site="lb11e"/>
        </spatial>
        <spatial name="S26">
            <site site="rb6e"/>
            <site site="lb11e"/>
        </spatial>
		
		<spatial name="S27">
            <site site="lb5e"/>
            <site site="lb9e"/>
        </spatial>
        <spatial name="S28">
            <site site="lb5e"/>
            <site site="mb9e"/>
        </spatial>
        <spatial name="S29">
            <site site="lb5e"/>
            <site site="rb9e"/>
        </spatial>
		
		<spatial name="S30">
            <site site="lb7e"/>
            <site site="mb7e"/>
        </spatial>
        <spatial name="S31">
            <site site="lb7e"/>
            <site site="rb7e"/>
        </spatial>
        <spatial name="S32">
            <site site="rb7e"/>
            <site site="mb7e"/>
        </spatial>
		
		<spatial name="S33">
            <site site="lb9e"/>
            <site site="mb9e"/>
        </spatial>
        <spatial name="S34">
            <site site="lb9e"/>
            <site site="rb9e"/>
        </spatial>
        <spatial name="S35">
            <site site="rb9e"/>
            <site site="mb9e"/>
        </spatial>
		
		<spatial name="S36">
            <site site="lb9e"/>
            <site site="lb11e"/>
        </spatial>
        <spatial name="S37">
            <site site="mb9e"/>
            <site site="lb11e"/>
        </spatial>
        <spatial name="S38">
            <site site="rb9e"/>
            <site site="lb11e"/>
        </spatial>
		
		<spatial name="S39">
            <site site="lb5e"/>
            <site site="lb8e"/>
        </spatial>
        <spatial name="S40">
            <site site="lb8e"/>
            <site site="lb11e"/>
        </spatial>
		
		<spatial name="S41">
            <site site="lb10e"/>
            <site site="rb10e"/>
        </spatial>
        <spatial name="S42">
            <site site="lb10e"/>
            <site site="mb10e"/>
        </spatial>
        <spatial name="S43">
            <site site="rb10e"/>
            <site site="mb10e"/>
        </spatial>
		
        <spatial name="S44">
            <site site="fl"/>
            <site site="lb11e"/>
        </spatial>
        <spatial name="S45">
            <site site="fr"/>
            <site site="lb11e"/>
        </spatial>
        <spatial name="S46">
            <site site="fm"/>
            <site site="lb11e"/>
        </spatial>
    </tendon>   

    <actuator>
        <motor tendon="S1"/>
        <motor tendon="S2"/>
		<motor tendon="S3"/>
        <motor tendon="S4"/>
        <motor tendon="S5"/>
        <motor tendon="S6"/>
		<motor tendon="S7"/>
        <motor tendon="S8"/>
        <motor tendon="S9"/>
        <motor tendon="S10"/>
        <motor tendon="S11"/>
        <motor tendon="S12"/>
		<motor tendon="S13"/>
        <motor tendon="S14"/>
        <motor tendon="S15"/>
        <motor tendon="S16"/>
		<motor tendon="S17"/>
        <motor tendon="S18"/>
        <motor tendon="S19"/>
        <motor tendon="S20"/>
		<motor tendon="S21"/>
        <motor tendon="S22"/>
		<motor tendon="S23"/>
        <motor tendon="S24"/>
        <motor tendon="S25"/>
        <motor tendon="S26"/>
		<motor tendon="S27"/>
        <motor tendon="S28"/>
        <motor tendon="S29"/>
        <motor tendon="S30"/>
        <motor tendon="S31"/>
        <motor tendon="S32"/>
		<motor tendon="S33"/>
        <motor tendon="S34"/>
        <motor tendon="S35"/>
        <motor tendon="S36"/>
		<motor tendon="S37"/>
        <motor tendon="S38"/>
        <motor tendon="S39"/>
        <motor tendon="S40"/>
		<motor tendon="S41"/>
        <motor tendon="S42"/>
        <motor tendon="S43"/>
		<motor tendon="S44"/>
        <motor tendon="S45"/>
        <motor tendon="S46"/>
    </actuator>
	
	<sensor>
		<framelinvel objtype="site" objname="lb1e"/>
		<framelinvel objtype="site" objname="lb2e"/>
		<framelinvel objtype="site" objname="lb3e"/>
		<framelinvel objtype="site" objname="lb4e"/>
		<framelinvel objtype="site" objname="lb5e"/>
		<framelinvel objtype="site" objname="mb3e"/>
        <framelinvel objtype="site" objname="rb3e"/>
        <framelinvel objtype="site" objname="mb1e"/>
		<framelinvel objtype="site" objname="mb4e"/>
		<framelinvel objtype="site" objname="rb1e"/>
		<framelinvel objtype="site" objname="rb4e"/>
		
		<framelinvel objtype="site" objname="lb6e"/>
		<framelinvel objtype="site" objname="mb6e"/>
        <framelinvel objtype="site" objname="rb6e"/>
		<framelinvel objtype="site" objname="lb7e"/>
		<framelinvel objtype="site" objname="mb7e"/>
        <framelinvel objtype="site" objname="rb7e"/>
		<framelinvel objtype="site" objname="lb8e"/>
		<framelinvel objtype="site" objname="lb11e"/>
        <framelinvel objtype="site" objname="lb9e"/>
		<framelinvel objtype="site" objname="mb9e"/>
        <framelinvel objtype="site" objname="rb9e"/>
		<framelinvel objtype="site" objname="lb10e"/>
		<framelinvel objtype="site" objname="mb10e"/>
        <framelinvel objtype="site" objname="rb10e"/>
	</sensor>
</mujoco>
