<mujoco>

    <compiler angle="radian" coordinate="local" meshdir="" texturedir="" />
    <option timestep="0.002">
        <flag warmstart="enable" />
    </option>
    <include file="shared_mug_159e56c18906830278d8f8c02c47cde0.xml" />
    <worldbody>

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        <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" />

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        <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>