<mujoco>
	<compiler angle="radian" coordinate="local" />
	<option gravity="0 0 0" integrator="Euler" iterations="500" solver="CG" timestep="0.001" tolerance="1e-10">
		<flag warmstart="enable" />
	</option>
	<asset>
		<texture builtin="gradient" height="32" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" type="skybox" width="32" />
	</asset>

	<include file="tmp.xml" />
	<include file="ground.xml" />
	<include file="table.xml" />
	<include file="baxter_only.xml" />
	
	
	

	<worldbody>
		<light ambient="0.2 0.2 0.2" castshadow="true" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
		
		<camera fovy="90" name="top_camera_rgb" pos="0.8 0 1.666" quat="1.0 0 0 0" />
	</worldbody>

</mujoco>