<mujoco model="table_arena">
    <asset>
        <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
        <texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512"/>
        <material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
        <texture builtin="checker" height="512" name="texplane2" rgb1=".6 .6 .6" rgb2=".2 0.2 0.2" type="2d" width="512"/>
        <material name="tableplane" reflectance="1.0" texrepeat="10 10" texture="texplane2" texuniform="true"/>
        <texture file="../textures/light-wood.png" type="2d" name="tex-light-wood"/>
        <material name="light-wood" reflectance="0.5" texrepeat="20 20" texture="tex-light-wood" texuniform="true"/>
    </asset>

    <worldbody>
        <geom condim="3" material="floorplane" name="FLOOR" pos="0 0 0" size="3 3 .125" type="plane"/>
        <body name="TABLE" pos="0 0 0.4">
            <geom pos="0 0 0" size="0.3 0.3 0.4" type="box" 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"/>-->
            <geom pos="0 0 0" size="0.3 0.3 0.4" type="box" conaffinity="0" contype="0" group="1" name="TABLE_visual" material="tableplane"/>
            <!--<geom pos="0 0 0" size="0.4 0.4 0.4" type="box" conaffinity="0" contype="0" group="1" name="TABLE_visual" material="light-wood"/>-->
            <site pos="0 0 0.4" name="TABLE_top" size="0.001 0.001 0.001" rgba="0 0 0 0"/>
        </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"/>-->
        <camera mode="fixed" name="frontview" pos="0 -1.2 0.9" quat="0.86 0.51 0. 0." fovy="60"/>
        <camera mode="fixed" name="view0" pos="1.0 0.41 1.8" quat="0.65 0.27 0.27 0.65"/>
        <camera mode="fixed" name="view1" pos="0.7 0.9 2.1" quat="0.65 0.27 0.27 0.65"/>
        <!--<camera mode="fixed" name="view2" pos="0.58 0.0 1.28" quat="0.612 0.354 0.354 0.612"/>-->
        <camera mode="fixed" name="view2" pos="0.8 0.0 1.1" quat="0.612 0.354 0.354 0.612"/>
        <camera mode="fixed" name="view3" pos="1.6 0.0 1" quat="0.433 0.433 0.250 0.750"/>
        <camera mode="fixed" name="view4" pos="0.0 3.0 1" quat="0.433 0.433 0.250 0.750"/>
        <camera mode="fixed" name="view5" pos="1.6 0.0 1" quat="0.433 0.433 0.250 0.750"/>
        <!-- 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"/>
    </worldbody>
</mujoco>
