<mujocoinclude>
  <option timestep='0.0025' iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="elliptic"/>

  <asset>
    <!-- night sky -->
      <!-- <texture name="skybox" type="skybox" builtin="gradient" rgb1=".08 .09 .10" rgb2="0 0 0"
             width="800" height="800" mark="random" markrgb=".8 .8 .8"/> -->
     <texture type="skybox" builtin="gradient" rgb1=".50 .495 .48" rgb2=".50 .495 .48" width="32" height="32"/>
     <texture name="T_table" type="cube" file="../textures/wood2.png"/>
     <texture name="T_floor" type="2d" file="../textures/floor2.png"/>

     <material name="basic_floor" texture="T_floor" texrepeat="12 12" shininess=".3" specular="0.5" reflectance="0.2"/>
     <material name="table_wood" texuniform="false" texture="T_table" shininess=".3" specular="0.5"/>
     <material name="table_col" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>

     <mesh file="../objects/meshes/table/tablebody.stl" name="tablebody" scale="1 1 1"/>
     <mesh file="../objects/meshes/table/tabletop.stl" name="tabletop" scale="1 1 1"/>
  </asset>

  <visual>
      <map fogstart="1.5" fogend="5" force="0.1" znear="0.01"/>
      <quality shadowsize ="4096" offsamples="4"/>

      <headlight ambient="0.4 0.4 0.4"/>

  </visual>

  <worldbody>
      <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
      <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='1 -1 1' dir='-1 1 -1'/>
      <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
      <body name="tablelink" pos="0 .6 0">
        <geom material="table_wood" group="1" pos="0 -0.12 0" size="0.08 0.28 0.05" type="box" conaffinity="0" contype="0"/>
        <geom material="table_wood" group="1" pos="-0.39 0 0" size="0.31 0.4 0.05" type="box" conaffinity="0" contype="0"/>
        <geom material="table_wood" group="1" pos="0.39 0 0" size="0.31 0.4 0.05" type="box" conaffinity="0" contype="0"/>
        <geom material="table_wood" group="1" pos="0 0.36 0" size="0.08 0.04 0.05" type="box" conaffinity="0" contype="0"/>
        <geom material="table_wood" group="1" pos="0 0 -.065" size="0.7 0.4 .015" type="box" conaffinity="0" contype="0"/>
        <geom material="table_wood" group="1" mesh="tablebody" pos="0 0 -0.65" type="mesh" conaffinity="0" contype="0"/>
        <geom material="table_col" group="4" pos="0 0 -0.46" size="0.7 0.4 0.46" type="box" conaffinity="1" contype="0"/>
        <geom material="table_col" group="4" pos="0 0 -0.483" size="0.69 0.38 0.43" type="box" conaffinity="1" contype="0"/>
        <geom material="table_col" group="4" pos="0 -0.12 0" size="0.08 0.28 0.05" type="box" conaffinity="1" contype="0"/>
        <geom material="table_col" group="4" pos="-0.39 0 0" size="0.31 0.4 0.05" type="box" conaffinity="1" contype="0"/>
        <geom material="table_col" group="4" pos="0.39 0 0" size="0.31 0.4 0.05" type="box" conaffinity="1" contype="0"/>
        <geom material="table_col" group="4" pos="0 0.36 0" size="0.08 0.04 0.05" type="box" conaffinity="1" contype="0"/>
      </body>

      <geom name="floor" size="4 4 .1" pos="0 0 -.913" conaffinity="1" contype="1" type="plane" material="basic_floor" condim="3"/>

  </worldbody>

</mujocoinclude>
