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table_arena_si.xml
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<mujoco model="table_arena_si">
<asset>
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
<texture file="../textures/light-gray-floor-tile.png" type="2d" name="texplane"/>
<material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" 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/light-gray-plaster.png" type="2d" name="tex-light-gray-plaster"/>
<material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.1" texrepeat="3 3" texture="tex-light-gray-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" group="1" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/> -->
<geom condim="3" group="1" name="floor" pos="0 0 0" size="3 3 .125" type="plane" rgba="0 0 0 1"/>
<!-- 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"/> -->
<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" rgba="0 0 0 1"/>
<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" rgba="0 0 0 1"/>
<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" rgba="0 0 0 1"/>
<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" rgba="0 0 0 1"/>
<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" rgba="0 0 0 1"/>
<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" rgba="0 0 0 1"/>
<light pos="1.0 1.0 1.5" dir="-0.2 -0.2 -1" specular="0.3 0.3 0.3" directional="true" castshadow="false"/>
<!-- top2bottom view -->
<!-- <camera mode="fixed" name="top2bottom" pos="0 0 2.6" quat="0.7071 0 0 0.7071"/> -->
<!-- bottom2top view -->
<!-- <camera mode="fixed" name="bottom2top" pos="0 0 0.6" quat="0 -0.707106781 0.707106781 0"/> -->
<!-- side view 0 -->
<!-- <camera mode="fixed" name="sideview_0" pos="0.8 0. 2.2" quat="0.63244947 0.31622473 0.31622473 0.63244947"/> -->
<!-- side view 45 -->
<!-- <camera mode="fixed" name="sideview_45" pos="0.56568542 0.56568542 2.2" quat="6.32449467e-01 2.77555756e-17 4.47209307e-01 6.32449467e-01"/> -->
<!-- side view 90 -->
<!-- <camera mode="fixed" name="sideview_90" pos="0 0.8 2.2" quat="0.63244947 -0.31622473 0.31622473 0.63244947"/> -->
<!-- side view 135 -->
<!-- <camera mode="fixed" name="sideview_135" pos="-0.56568542 0.56568542 2.2" quat="6.32449467e-01 -4.47209307e-01 2.77555756e-17 6.32449467e-01"/> -->
<!-- side view 180 -->
<!-- <camera mode="fixed" name="sideview_180" pos="-0.8 0.0 2.2" quat="0.63244947 -0.31622473 -0.31622473 0.63244947"/> -->
<!-- side view 225 -->
<!-- <camera mode="fixed" name="sideview_225" pos="-0.56568542 -0.56568542 2.2" quat="6.32449467e-01 -2.77555756e-17 -4.47209307e-01 6.32449467e-01"/> -->
<!-- side view 270 -->
<!-- <camera mode="fixed" name="sideview_270" pos="0.0 -0.8 2.2" quat="0.63244947 0.31622473 -0.31622473 0.63244947"/> -->
<!-- side view 315 -->
<!-- <camera mode="fixed" name="sideview_315" pos="0.56568542 -0.56568542 2.2" quat="6.32449467e-01 4.47209307e-01 -2.77555756e-17 6.32449467e-01"/> -->
<!-- frontview -->
<camera mode="fixed" name="frontview" pos="0.8 0. 1.6" quat="0.4999952 0.4999952 0.4999952 0.4999952"/>
<!-- topview -->
<camera mode="fixed" name="topview" pos="0 0 2.4" quat="0.7071 0 0 0.7071"/>
<!-- sideview -->
<camera mode="fixed" name="sideview" pos="0 -0.8 1.6" quat="0.70710678 0.70710678 0. 0. "/>
</worldbody>
</mujoco>