<mujoco>

    <compiler angle="radian" coordinate="local" meshdir="" texturedir="" />
    <option timestep="0.002">
        <flag warmstart="enable" />
    </option>
    <include file="shared_mug_d46b98f63a017578ea456f4bbbc96af9.xml" />
    <worldbody>

        <geom condim="3" material="floor_mat" name="floor0" pos="0 0 0" size="1.05 0.7 1" type="plane" />
        <body name="floor0" pos="0 0 0">
            
        </body>

        <body name="table0" pos="0 0 0.2">
            <geom condim="3" friction="0.1 0.005 0.0001" mass="2000" material="table_mat" name="table0" size="0.625 0.45 0.2" type="box" />
        </body>
        

        <body name="object0" pos="0.0 0.0 0.46">
            <camera name="yunchu_view" pos="0.025 0.025 3.02" />
            <camera euler="3.1415 0 0" fovy="50" name="head_camera_rgb" pos="0 0 0" />
            <joint damping="0.01" name="object0:joint" type="free" />

            <geom condim="4" density="1.0742185876657924" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_0" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9885649760211489" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_1" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6289884262938946" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_2" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.101431136280229" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_3" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="5.794585721504267" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_4" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="6.286466605307626" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_5" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="6.44233159003684" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_6" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="5.556611966325628" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_7" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="10.922200824584657" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_8" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="7.228215153675631" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_9" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="7.039501379985971" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_10" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="11.518806046267965" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_11" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="8.013154646240512" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_12" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="10.508056266448778" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_13" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="7.266591466149213" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_14" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="9.630275207211849" friction="2 0.3 0.1" group="1" material="ceramic" mesh="d46b98f63a017578ea456f4bbbc96af9_mesh_15" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /></body>

        <light ambient="0.2 0.2 0.2" castshadow="false" 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" />
    </worldbody>

    <actuator />
</mujoco>