<mujoco model="table">

    <!-- table top -->
    <body name="table_full" pos="0 0 0" quat="0 0 0 0">
        <geom name="tableTop" type="box" contype="1" material="white" size="1 0.5 0.05" conaffinity="1"
              pos="0 0.9 -0.05" mass="1000" friction="2 0.1 0.002"/>
        <geom name="wall" type="box" contype="1" material="grey" size="1 0.02 1" conaffinity="1" pos="0 1.3 0.5"
              mass="1000" friction="2 -1 0.002"/>
    </body>

</mujoco>
