<mujoco model="SimReady bin — browser experiment">
  <compiler angle="degree" inertiafromgeom="false" meshdir="meshes" alignfree="false" />
  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="50" />
  <default>
    <geom contype="2" conaffinity="1" condim="6" solref="0.01 1" solimp="0.95 0.99 0.001" />
    <joint damping="0.01" armature="0" />
  </default>
  <asset>
    <mesh name="body_0" file="body_0.obj" />
    <mesh name="body_1" file="body_1.obj" />
    <mesh name="body_2" file="body_2.obj" />
    <mesh name="body_3" file="body_3.obj" />
    <mesh name="body_4" file="body_4.obj" />
    <mesh name="body_5" file="body_5.obj" />
    <mesh name="body_6" file="body_6.obj" />
    <mesh name="body_7" file="body_7.obj" />
    <mesh name="body_8" file="body_8.obj" />
    <mesh name="body_9" file="body_9.obj" />
    <mesh name="body_10" file="body_10.obj" />
    <mesh name="body_11" file="body_11.obj" />
    <mesh name="body_12" file="body_12.obj" />
    <mesh name="body_13" file="body_13.obj" />
    <mesh name="body_14" file="body_14.obj" />
    <mesh name="body_15" file="body_15.obj" />
    <mesh name="body_16" file="body_16.obj" />
    <mesh name="body_17" file="body_17.obj" />
    <mesh name="body_18" file="body_18.obj" />
    <mesh name="body_19" file="body_19.obj" />
    <mesh name="body_20" file="body_20.obj" />
    <mesh name="body_21" file="body_21.obj" />
    <mesh name="body_22" file="body_22.obj" />
    <mesh name="body_23" file="body_23.obj" />
    <mesh name="body_24" file="body_24.obj" />
    <mesh name="body_25" file="body_25.obj" />
    <mesh name="body_26" file="body_26.obj" />
    <mesh name="body_27" file="body_27.obj" />
    <mesh name="body_28" file="body_28.obj" />
    <mesh name="body_29" file="body_29.obj" />
    <mesh name="body_30" file="body_30.obj" />
    <mesh name="body_31" file="body_31.obj" />
    <mesh name="body_32" file="body_32.obj" />
    <mesh name="body_33" file="body_33.obj" />
    <mesh name="body_34" file="body_34.obj" />
    <mesh name="body_35" file="body_35.obj" />
    <mesh name="body_36" file="body_36.obj" />
    <mesh name="body_37" file="body_37.obj" />
    <mesh name="body_38" file="body_38.obj" />
    <mesh name="body_39" file="body_39.obj" />
    <mesh name="body_40" file="body_40.obj" />
    <mesh name="body_41" file="body_41.obj" />
    <mesh name="body_42" file="body_42.obj" />
    <mesh name="body_43" file="body_43.obj" />
    <mesh name="body_44" file="body_44.obj" />
    <mesh name="body_45" file="body_45.obj" />
    <mesh name="body_46" file="body_46.obj" />
    <mesh name="body_47" file="body_47.obj" />
    <mesh name="lid_0" file="lid_0.obj" />
    <mesh name="lid_1" file="lid_1.obj" />
    <mesh name="lid_2" file="lid_2.obj" />
    <mesh name="lid_3" file="lid_3.obj" />
    <mesh name="lid_4" file="lid_4.obj" />
    <mesh name="lid_5" file="lid_5.obj" />
    <mesh name="lid_6" file="lid_6.obj" />
    <mesh name="lid_7" file="lid_7.obj" />
    <mesh name="lid_8" file="lid_8.obj" />
    <mesh name="lid_9" file="lid_9.obj" />
    <mesh name="lid_10" file="lid_10.obj" />
    <mesh name="lid_11" file="lid_11.obj" />
    <mesh name="lid_12" file="lid_12.obj" />
    <mesh name="lid_13" file="lid_13.obj" />
    <mesh name="lid_14" file="lid_14.obj" />
    <mesh name="lid_15" file="lid_15.obj" />
    <mesh name="lid_16" file="lid_16.obj" />
    <mesh name="lid_17" file="lid_17.obj" />
    <mesh name="lid_18" file="lid_18.obj" />
    <mesh name="lid_19" file="lid_19.obj" />
    <mesh name="lid_20" file="lid_20.obj" />
    <mesh name="lid_21" file="lid_21.obj" />
    <mesh name="lid_22" file="lid_22.obj" />
    <mesh name="lid_23" file="lid_23.obj" />
    <mesh name="lid_24" file="lid_24.obj" />
    <mesh name="lid_25" file="lid_25.obj" />
    <mesh name="lid_26" file="lid_26.obj" />
    <mesh name="lid_27" file="lid_27.obj" />
    <mesh name="lid_28" file="lid_28.obj" />
    <mesh name="lid_29" file="lid_29.obj" />
    <mesh name="lid_30" file="lid_30.obj" />
    <mesh name="lid_31" file="lid_31.obj" />
    <mesh name="lid_32" file="lid_32.obj" />
    <mesh name="lid_33" file="lid_33.obj" />
    <mesh name="lid_34" file="lid_34.obj" />
    <mesh name="lid_35" file="lid_35.obj" />
    <mesh name="lid_36" file="lid_36.obj" />
  </asset>
  <worldbody>
    <geom name="floor" type="plane" size="10 10 0.1" contype="1" conaffinity="2" friction="0.5 0.005 0.0001" rgba="0.65 0.65 0.63 1" />
    <body name="body" pos="0 -0.02059326135 0.249986114502" quat="1 0 0 0">
      <inertial pos="1.88712945715e-07 -0.0565693415701 0.793331444263" quat="1 0 0 0" mass="7.75360107421875" diaginertia="3.94520545006 8.05775737762 7.12948131561" />
      <freejoint name="bin_free" />
      <geom name="body_collision_0" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_0" />
      <geom name="body_collision_1" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_1" />
      <geom name="body_collision_2" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_2" />
      <geom name="body_collision_3" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_3" />
      <geom name="body_collision_4" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_4" />
      <geom name="body_collision_5" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_5" />
      <geom name="body_collision_6" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_6" />
      <geom name="body_collision_7" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_7" />
      <geom name="body_collision_8" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_8" />
      <geom name="body_collision_9" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_9" />
      <geom name="body_collision_10" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_10" />
      <geom name="body_collision_11" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_11" />
      <geom name="body_collision_12" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_12" />
      <geom name="body_collision_13" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_13" />
      <geom name="body_collision_14" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_14" />
      <geom name="body_collision_15" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_15" />
      <geom name="body_collision_16" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_16" />
      <geom name="body_collision_17" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_17" />
      <geom name="body_collision_18" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_18" />
      <geom name="body_collision_19" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_19" />
      <geom name="body_collision_20" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_20" />
      <geom name="body_collision_21" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_21" />
      <geom name="body_collision_22" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_22" />
      <geom name="body_collision_23" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_23" />
      <geom name="body_collision_24" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_24" />
      <geom name="body_collision_25" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_25" />
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      <geom name="body_collision_30" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_30" />
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      <geom name="body_collision_33" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_33" />
      <geom name="body_collision_34" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_34" />
      <geom name="body_collision_35" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_35" />
      <geom name="body_collision_36" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_36" />
      <geom name="body_collision_37" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_37" />
      <geom name="body_collision_38" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_38" />
      <geom name="body_collision_39" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_39" />
      <geom name="body_collision_40" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_40" />
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      <geom name="body_collision_45" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_45" />
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      <geom name="body_collision_47" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="body_47" />
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        <joint name="wheelbase3" type="hinge" pos="0 0 0" axis="0 0 1" limited="false" />
        <geom name="wheelbase3_collision_0" friction="0.300000011921 0.005 0.0001" type="box" pos="-0.00568456575274 0 -0.0753506678343" size="0.0747666321695 0.049201734364 0.0753506910801" />
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          <geom name="wheel3_collision_0" friction="0.40000000596 0.005 0.0001" type="cylinder" pos="2.98023223877e-08 1.95577740669e-08 0" size="0.115226984024 0.0300741763785" quat="0.707106781187 0.707106781187 0 0" />
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      <body name="wheelbase4" pos="0.5176827908 -0.39666503105 0.243464571798" quat="1 0 0 0">
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        <joint name="lid" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-65 0" />
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        <geom name="lid_collision_3" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="lid_3" />
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        <geom name="lid_collision_20" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="lid_20" />
        <geom name="lid_collision_21" friction="0.449999988079 0.005 0.0001" type="mesh" mesh="lid_21" />
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      <body name="wheelbase1" pos="-0.5176826119 -0.39666503105 0.243464571798" quat="1 0 0 0">
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        <joint name="wheelbase1" type="hinge" pos="0 0 0" axis="0 0 1" limited="false" />
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          <joint name="wheel1" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-62831.8515625 62831.8515625" />
          <geom name="wheel1_collision_0" friction="0.449999988079 0.005 0.0001" type="cylinder" pos="0 0 0" size="0.115226984024 0.0300741568208" quat="0.707106781187 0.707106781187 0 0" />
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        <joint name="wheelbase2" type="hinge" pos="0 0 0" axis="0 0 1" limited="false" />
        <geom name="wheelbase2_collision_0" friction="0.300000011921 0.005 0.0001" type="box" pos="0.00568456575274 0 -0.0753506678343" size="0.0747666321695 0.049201734364 0.0753506910801" />
        <body name="wheel2" pos="0.0629463791 0 -0.1277800053" quat="1 0 0 0">
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          <joint name="wheel2" type="hinge" pos="0 0 0" axis="0 1 0" limited="true" range="-62831.8515625 62831.8515625" />
          <geom name="wheel2_collision_0" friction="0.40000000596 0.005 0.0001" type="cylinder" pos="0 -1.86264514923e-08 0" size="0.115226984024 0.0300741381943" quat="0.707106781187 0.707106781187 0 0" />
        </body>
      </body>
    </body>
  </worldbody>
</mujoco>
