<!-- TODO -->
<!-- (1) correct mass/inertial matricies (just weight for now) -->
<mujoco model="mushr_nano">
  <compiler angle="radian" />
  <size njmax="500" nconmax="100"/>
  <option timestep="0.01"/>
  <include file="cars/pusher_car/buddy.xml"/>
  <asset>
    <texture name="texplane" type="2d" builtin="checker" rgb1="0.26 0.12 0.36" rgb2="0.23 0.09 0.33" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
    <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
    <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
    <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
  </asset>
  <visual>
    <headlight ambient="0.6 0.6 0.6" diffuse="0.5 0.5 0.5" specular="0.2 0.2 0.2"/>
    <map znear="0.001" />
  </visual>
  <worldbody>
    <geom contype="1" friction=".5 0.005 0.0001" name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
    <body pos="0.1 0.000000 0.049" name="block" euler="0 0 0.000000">
      <joint type="free"/>
      <geom type="box" mass="1.2" contype="1" friction="0.4 0.005 0.00001" conaffinity="1" size=".049 .049 .049" rgba="0.247 0.772 0.760 1"/>
    </body>
    <!-- walls -->
    <geom type="box" contype="1" conaffinity="1" size="10.100000 0.050000 0.250000" rgba="0.11 0.024 0.345 1" pos="0.000000 10.050000 0.250000"/>
    <geom type="box" contype="1" conaffinity="1" size="0.050000 10.000000 0.250000" rgba="0.11 0.024 0.345 1" pos="10.050000 0.000000 0.250000"/>
    <geom type="box" contype="1" conaffinity="1" size="10.100000 0.050000 0.250000" rgba="0.11 0.024 0.345 1" pos="0.000000 -10.050000 0.250000"/>
    <geom type="box" contype="1" conaffinity="1" size="0.050000 10.000000 0.250000" rgba="0.11 0.024 0.345 1" pos="-10.050000 0.000000 0.250000"/>
  </worldbody>
</mujoco>
