<?xml version='1.0' encoding='utf-8'?>
<mujoco model="test">
    <compiler angle="radian" autolimits="true" />
    <option timestep="0.002" gravity="0 0 -9.81" wind="0 0 0" integrator="implicitfast" density="1.225" viscosity="1.8e-05" />
    <visual>
        <global realtime="1" />
        <quality shadowsize="16384" numslices="28" offsamples="4" />
        <headlight diffuse="2 2 2" specular="0.5 0.5 0.5" active="1" />
        <rgba fog="0 1 0 1" haze="1 0 0 1" />
    </visual>
    <asset>
        <mesh name="l_0_Wheel" file="./objs/0/0.obj" scale="1.2 1.2 1.2" />
        <texture type="2d" name="l_0_Wheel_tex" file="./objs/0/material_0.png" />
        <material name="l_0_Wheel_img" texture="l_0_Wheel_tex" />
        <mesh name="l_1_Wheel" file="./objs/1/1.obj" scale="1.2 1.2 1.2" />
        <texture type="2d" name="l_1_Wheel_tex" file="./objs/1/material_0.png" />
        <material name="l_1_Wheel_img" texture="l_1_Wheel_tex" />
        <mesh name="l_2_Base Body" file="./objs/2/2.obj" scale="1.2 1.2 1.2" />
        <texture type="2d" name="l_2_Base Body_tex" file="./objs/2/material_0.png" />
        <material name="l_2_Base Body_img" texture="l_2_Base Body_tex" />
        <texture type="skybox" file="./desert.png" gridsize="3 4" gridlayout=".U..LFRB.D.." />
        <texture name="plane" type="2d" builtin="checker" rgb1=".1 .1 .1" rgb2=".5 .5 .5" width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
        <material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true" />
    </asset>
    <default>
        <geom solref=".5e-4" solimp="0.9 0.99 1e-4" fluidcoef="0.5 0.25 0.5 2.0 1.0" />
        <default class="l_0_Wheel">
            <geom type="mesh" mesh="l_0_Wheel" contype="1" conaffinity="1" density="1100.0" fluidshape="ellipsoid" />
        </default>
        <default class="l_1_Wheel">
            <geom type="mesh" mesh="l_1_Wheel" contype="1" conaffinity="1" density="1100.0" fluidshape="ellipsoid" />
        </default>
        <default class="l_2_Base Body">
            <geom type="mesh" mesh="l_2_Base Body" contype="1" conaffinity="1" density="7850.0" fluidshape="ellipsoid" />
        </default>
    </default>
    <worldbody>
        <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="plane" condim="6" />
        <light directional="true" ambient=".3 .3 .3" pos="30 30 30" dir="0 -2 -1" diffuse=".5 .5 .5" specular=".5 .5 .5" />
        <body name="base" pos="0 0 1" euler="0 0 0">
            <freejoint />
            <geom class="l_2_Base Body" material="l_2_Base Body_img" />
            <body name="grouppart_1" pos="0 0 0">
                <joint type="hinge" name="pivot_1" axis="1.0 0.0 0.0" pos="-0.6 -0.5283749999999999 -0.10875000000000001" range="-0.9948376736367678 0.0" damping="0.001" frictionloss="0.0" stiffness="0" />
                <geom class="l_0_Wheel" material="l_0_Wheel_img" />
            </body>
            <body name="grouppart_2" pos="0 0 0">
                <joint type="hinge" name="pivot_2" axis="1.0 0.0 0.0" pos="-0.6 -0.529125 -0.10724999999999997" range="-0.9948376736367678 0.0" damping="0.001" frictionloss="0.0" stiffness="0" />
                <geom class="l_1_Wheel" material="l_1_Wheel_img" />
            </body>
        </body>
    </worldbody>
</mujoco>