<mujoco model="table_assembly_arena">
  <asset>
    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
    <texture file="../textures/wood-tiles.png" type="2d" name="texplane"/>
    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
    <texture file="../textures/steel-scratched.png" type="cube" name="steel-metal"/>
    <texture file="../textures/brass-ambra.png" type="cube" name="brass-metal"/>
    <material name="smetal" reflectance="1.0" shininess="1.0" specular="1.0" texrepeat="1 1" texture="steel-metal" texuniform="true"/>
    <material name="bmetal"  reflectance="1.0" shininess="1.0" specular="1.0" texrepeat="1 1" texture="brass-metal" texuniform="true"/>
    <!-- ceramic table texture and material-->
    <texture file="../textures/ceramic.png" type="cube" name="tex-ceramic"/>
    <material name="table_ceramic" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-ceramic" />
    <!-- steel legs -->
    <texture file="../textures/steel-brushed.png" type="cube" name="tex-steel-brushed"/>
    <material name="table_legs_metal" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-steel-brushed" />
    <!-- plaster walls -->
    <texture file="../textures/cream-plaster.png" type="2d" name="tex-cream-plaster"/>
    <texture file="../textures/light-wood.png" name="tex-light-wood" type="2d" />
    <material name="light-wood" reflectance="0.5" texrepeat="15 15" texture="tex-light-wood" texuniform="true" />
    <mesh file="../meshes/0.stl" name="part0" scale="0.032025927036999993 0.032025927036999993 0.097025927036999993" />
    <mesh file="../meshes/4.stl" name="part4" scale="0.047025927036999993 0.047025927036999993 0.047025927036999993" />
    <!-- <mesh file="../meshes/toy_table/3.stl" name="part3" scale="0.047025927036999993 0.047025927036999993 0.077025927036999993" /> -->
    <mesh file="../meshes/2.stl" name="part2" scale="0.032025927036999993 0.032025927036999993 0.097025927036999993" />
    <mesh file="../meshes/1.stl" name="part1" scale="0.032025927036999993 0.032025927036999993 0.097025927036999993" />
    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.1" texrepeat="3 3" texture="tex-cream-plaster" texuniform="true" />
    <!-- added table texture and material for domain randomization -->
    <texture  name="textable" builtin="flat" height="512" width="512" rgb1="0.5 0.5 0.5" rgb2="0.5 0.5 0.5"/>
    <material name="table_mat" texture="textable" />

  </asset>
  <worldbody>
    <!-- Floor -->
    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
    <!-- Walls (visual only) -->
    <geom pos="-1.25 2.25 1.5" quat="0.6532815 0.6532815 0.2705981 0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_leftcorner_visual" material="walls_mat"/>
    <geom pos="-1.25 -2.25 1.5" quat="0.6532815 0.6532815 -0.2705981 -0.2705981" size="1.06 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rightcorner_visual" material="walls_mat"/>
    <geom pos="1.25 3 1.5" quat="0.7071 0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_left_visual" material="walls_mat"/>
    <geom pos="1.25 -3 1.5" quat="0.7071 -0.7071 0 0" size="1.75 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_right_visual" material="walls_mat"/>
    <geom pos="-2 0 1.5" quat="0.5 0.5 0.5 0.5" size="1.5 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_rear_visual" material="walls_mat"/>
    <geom pos="3 0 1.5" quat="0.5 0.5 -0.5 -0.5" size="3 1.5 0.01" type="box" conaffinity="0" contype="0" group="1" name="wall_front_visual" material="walls_mat"/>
    <!-- Table body -->
    <body name="table" pos="0 0 0.4">
      <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" group="0" name="table_collision" friction="1 0.005 0.0001"/>
      <geom pos="0 0 0" size="0.4 0.4 0.4" type="box" conaffinity="0" contype="0" group="1" name="table_visual" material="table_ceramic"/>
      <site pos="0 0 0.4" name="table_top" size="0.001 0.001 0.001" rgba="0 0 0 0"/>
      <!-- Legs (visual only) -->
      <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg1_visual" material="table_legs_metal"/>
      <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg2_visual" material="table_legs_metal"/>
      <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg3_visual" material="table_legs_metal"/>
      <geom pos="0 0 0" size="0.05 0.1" type="cylinder" conaffinity="0" contype="0" group="1" name="table_leg4_visual" material="table_legs_metal"/>
  </body>

     <body name="furniture" pos="0.25 0.05 1.08" quat="1 0 0 0.5">
        <body name="4_part4" pos="-0.17516966081204696 0.17516964229908347 -0.22027505841291783" quat="0 0 -1 0">
          <!-- <geom group='1' density="50" mesh="part4" name="4_part4" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" /> -->
          <!-- <geom density="50" mesh="part4" name="4_part4" pos="0. 0.0 &#45;0.1" rgba="1 0. 0. 1" type="mesh" /> -->
          <!-- <geom group='1' conaffinity="0" contype="0" density="50" mesh="part4" name="4_part4" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" /> -->
          <geom group='1' conaffinity="0" contype="0" density="50" mesh="part4" name="4_part4_mesh" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" type="mesh" />
          <site name="hole" pos="0.225 -0.225 -0.04" size="0.005" rgba="0 0. 1 0.3"/>
          <site name="hole_bottom" pos="0.225 -0.225 0.039" size="0.005" rgba="0 0. 1 0.3"/>
          <geom density="50" quat="1         0 0          0" name="noviz_collision_4_part4_16" pos="0.225 -0.268 -0.00268" rgba="1 0 0 0" size="0.02 0.015 0.04" solref="0.001 1" type="box" />
          <geom density="50" quat="1         0 0          0" name="noviz_collision_4_part4_17" pos="0.225 -0.172 -0.00268" rgba="1 0 0 0" size="0.02 0.015 0.04" solref="0.001 1" type="box" />

          <geom density="50" quat="0.7071067 0 0 -0.7071068" name="noviz_collision_4_part4_18" pos="0.268 -0.225 -0.00268" rgba="1 0 0 0" size="0.02 0.015 0.04" solref="0.001 1" type="box" />
          <geom density="50" quat="0.7071067 0 0 -0.7071068" name="noviz_collision_4_part4_19" pos="0.177 -0.225 -0.00268" rgba="1 0 0 0" size="0.02 0.015 0.04" solref="0.001 1" type="box" />

          <geom density="50" quat="0.9238796 0 0  0.3826834" name="noviz_collision_4_part4_20" pos="0.255 -0.253 -0.00268" rgba="1 0 0 0" size="0.02 0.015 0.04" solref="0.001 1" type="box" />
          <geom density="50" quat="0.9238796 0 0 -0.3826834" name="noviz_collision_4_part4_21" pos="0.255 -0.187 -0.00268" rgba="1 0 0 0" size="0.02 0.015 0.04" solref="0.001 1" type="box" />

          <geom density="50" quat="0.9238796 0 0 -0.3826834" name="noviz_collision_4_part4_22" pos="0.195 -0.258 -0.00268" rgba="1 1 1 0" size="0.02 0.015 0.04" solref="0.001 1" type="box" />
          <geom density="50" quat="0.9238796 0 0  0.3826834" name="noviz_collision_4_part4_23" pos="0.195 -0.180 -0.00268" rgba="1 1 0 0" size="0.02 0.015 0.04" solref="0.001 1" type="box" />

          <geom density="50" name="noviz_collision_4_part4_24" pos="0 0 0.032" rgba="1 1 0 0" size="0.2 0.2 0.01" solref="0.001 1" type="box" />
          <geom density="50" name="noviz_collision_4_part4_25" pos="0.228 0 0.032" rgba="1 1 0 0" size="0.028 0.185 0.01" solref="0.001 0" type="box" />
          <geom density="50" name="noviz_collision_4_part4_25_edge" pos="0.255 0 0.032" rgba="1 1 0 0" size="0.005 0.185 0.04" solref="0.001 0" type="box" />
          <geom density="50" name="noviz_collision_4_part4_26" pos="-0.228 0 0.032" rgba="1 1 0 0" size="0.028 0.185 0.01" solref="0.001 0" type="box" />
          <!-- <geom density="50" name="noviz_collision_4_part4_26_edge" pos="&#45;0.228 0 0.032" rgba="1 1 0 1" size="0.005 0.185 0.06" solref="0.001 0" type="box" /> -->
          <geom density="50" name="noviz_collision_4_part4_26_edge" pos="-0.255 0 0.032" rgba="1 1 0 0" size="0.005 0.185 0.04" solref="0.001 0" type="box" />
          <geom density="50" name="noviz_collision_4_part4_27" pos="0 -0.228 0.032" rgba="1 1 0 0" size="0.185 0.028 0.01" solref="0.001 0" type="box" />
          <geom density="50" name="noviz_collision_4_part4_27_edge" pos="0 -0.255 0.032" rgba="1 1 0 0" size="0.185 0.005 0.04" solref="0.001 0" type="box" />
          <geom density="50" name="noviz_collision_4_part4_28" pos="0 0.228 0.032" rgba="1 1 0 0" size="0.185 0.028 0.01" solref="0.001 0" type="box" />
          <geom density="50" name="noviz_collision_4_part4_28_edge" pos="0 0.255 0.032" rgba="1 1 0 0" size="0.185 0.005 0.04" solref="0.001 0" type="box" />
        </body>
     </body>

    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
    <light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 4.0" specular="0.3 0.3 0.3" castshadow="false"/>
    <!-- front view -->
    <camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56"/>
    <!-- bird view -->
    <camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
    <!-- agent view -->
    <camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
    <!-- side view -->
    <camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
  </worldbody>
</mujoco>
