<mujoco model="pegs_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"/>
    <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" 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="peg1" pos="0.23 0.1 0.85">
      <geom pos="0 0 0" size="0.016 0.016 0.1" type="box" friction="1 0.005 0.0001"/>
      <geom pos="0 0 0" size="0.016 0.016 0.1" type="box" conaffinity="0" contype="0" group="1" material="bmetal" />
    </body>
    <body name="peg2" pos="0.23 -0.1 0.85">
      <geom pos="0 0 0" size="0.02 0.1" type="cylinder" friction="1 0.005 0.0001"/>
      <geom pos="0 0 0" size="0.02 0.1" type="cylinder" conaffinity="0" contype="0" group="1" material="smetal" />
    </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>
