<mujoco>

    <compiler angle="radian" coordinate="local" meshdir="" texturedir="" />
    <option timestep="0.002">
        <flag warmstart="enable" />
    </option>
    <include file="shared_mug_71ca4fc9c8c29fa8d5abaf84513415a2.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="10.699128096381335" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_0" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="10.365622504998646" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_1" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="6.802552259399349" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_2" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="4.389045664206661" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_3" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="8.429515850109901" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_4" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="4.436340417498437" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_5" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="6.7074824782258915" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_6" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="6.383334689226522" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_7" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="6.365899892217344" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_8" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="5.604012988869128" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_9" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="2.729429483816212" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_10" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="5.885634286627811" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_11" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="4.46781217273458" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_12" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="3.9176925085490053" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_13" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="2.591683538832436" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_14" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="3.7336023844231647" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_15" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="2.975344348205222" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_16" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="3.5158664356783387" friction="2 0.3 0.1" group="1" material="ceramic" mesh="71ca4fc9c8c29fa8d5abaf84513415a2_mesh_17" 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>