<mujoco model="table_klubbo_0743">
    <asset>
        <mesh file="table_klubbo_0743/leg1.stl" name="table_leg1" scale="0.0002 0.0002 0.0002" />
        <mesh file="table_klubbo_0743/leg2.stl" name="table_leg2" scale="0.0002 0.0002 0.0002" />
        <mesh file="table_klubbo_0743/leg3.stl" name="table_leg3" scale="0.0002 0.0002 0.0002" />
        <mesh file="table_klubbo_0743/leg4.stl" name="table_leg4" scale="0.0002 0.0002 0.0002" />
        <mesh file="table_klubbo_0743/table_top.stl" name="table_top" scale="0.0002 0.0002 0.0002" />
        <texture file="../textures/light-wood.png" name="tex-light-wood" type="2d" />
        <material name="light-wood" reflectance="0.5" texrepeat="20 20" texture="tex-light-wood" texuniform="true" />
    </asset>
    <equality>
        <weld active="false" body1="1_table_leg1" body2="5_table_top" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="2_table_leg2" body2="5_table_top" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="3_table_leg3" body2="5_table_top" solimp="1 1 0.5" solref="0.01 0.3" />
        <weld active="false" body1="4_table_leg4" body2="5_table_top" solimp="1 1 0.5" solref="0.01 0.3" />
    </equality>
    <worldbody>
        <body name="1_table_leg1" pos="-0.155 0.007 0.166">
            <geom conaffinity="0" contype="0" density="0" material="light-wood" mesh="table_leg1" name="1_table_leg1_geom" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <geom density="50" euler="0 0 0" name="noviz_collision_1_table_leg1_1" pos="-0.015 0.17 0.0" rgba="1 0 0 1" size="0.012 0.012 0.16" solref="0.001 1" type="box" />
            <geom density="50" euler="0 0 0" name="noviz_collision_1_table_leg1_2" pos="-0.015 0.0 0.15" rgba="1 0 0 1" size="0.012 0.182 0.012" solref="0.001 1" type="box" />
            <site group="0" name="leg1-table,0,conn_site" pos="-0.01 0.0 0.16" rgba="1 0 0 0.3" size="0.01" />
            <site name="1_table_leg1_corner_site1" pos="-0.012 -0.182 0.15" rgba="0 0 1 0.3" size="0.005" />
            <site name="1_table_leg1_corner_site2" pos="-0.012 0.182 0.15" rgba="0 0 1 0.3" size="0.005" />
            <site name="1_table_leg1_corner_site3" pos="-0.012 0.182 -0.16" rgba="0 0 1 0.3" size="0.005" />
            <site name="1_table_leg1_bottom_site" pos="-0.012 0.182 -0.16" rgba="0 0 1 0" size="0.0232" />
            <site name="1_table_leg1_top_site" pos="-0.012 0.0 0.15" rgba="0 0 1 0" size="0.0232" />
            <site name="1_table_leg1_horizontal_radius_site" pos="-0.012 0.0 0.0" rgba="0 0 1 0" size="0.14" />
        </body>
        <body name="2_table_leg2" pos="0.007 0.168 0.1666" quat="1 0 0 0">
            <geom conaffinity="0" contype="0" density="0" material="light-wood" mesh="table_leg2" name="table_leg2_geom" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <geom density="50" euler="0 0 0" name="noviz_collision_2_table_leg2_1" pos="0.17 0.015 0.0" rgba="1 0 0 1" size="0.012 0.012 0.16" solref="0.001 1" type="box" />
            <geom density="50" euler="0 0 0" name="noviz_collision_2_table_leg2_2" pos="0.0 0.015 0.15" rgba="1 0 0 1" size="0.182 0.012 0.012" solref="0.001 1" type="box" />
            <site group="0" name="leg2-table,0,conn_site" pos="0.0 0.01 0.16" rgba="0 1 1 0.3" size="0.01" />
            <site name="2_table_leg2_corner_site1" pos="0.182 0.012 0.15" rgba="0 0 1 0.3" size="0.005" />
            <site name="2_table_leg2_corner_site2" pos="-0.182 0.012 0.15" rgba="0 0 1 0.3" size="0.005" />
            <site name="2_table_leg2_corner_site3" pos="0.182 0.012 -0.16" rgba="0 0 1 0.3" size="0.005" />
            <site name="2_table_leg2_bottom_site" pos="0.182 0.012 -0.16" rgba="0 0 1 0" size="0.0232" />
            <site name="2_table_leg2_top_site" pos="0.0 0.012 0.15" rgba="0 0 1 0" size="0.0232" />
            <site name="2_table_leg2_horizontal_radius_site" pos="0.0 0.012 0.0" rgba="0 0 1 0" size="0.14" />
        </body>
        <body name="3_table_leg3" pos="0.168 -0.007 0.1666" quat="1 0 0 0">
            <geom conaffinity="0" contype="0" density="0" material="light-wood" mesh="table_leg3" name="table_leg3_geom" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <geom density="50" euler="0 0 0" name="noviz_collision_3_table_leg3_1" pos="0.015 -0.17 0.0" rgba="1 0 0 1" size="0.012 0.012 0.16" solref="0.001 1" type="box" />
            <geom density="50" euler="0 0 0" name="noviz_collision_3_table_leg3_2" pos="0.015 0.0 0.15" rgba="1 0 0 1" size="0.012 0.182 0.012" solref="0.001 1" type="box" />
            <site group="0" name="leg3-table,0,conn_site" pos="0.01 0.0 0.16" rgba="1 0 1 0.3" size="0.01" />
            <site name="3_table_leg3_corner_site1" pos="0.012 -0.182 0.15" rgba="0 0 1 0.3" size="0.005" />
            <site name="3_table_leg3_corner_site2" pos="0.012 0.182 0.15" rgba="0 0 1 0.3" size="0.005" />
            <site name="3_table_leg3_corner_site3" pos="0.012 -0.182 -0.16" rgba="0 0 1 0.3" size="0.005" />
            <site name="3_table_leg3_bottom_site" pos="0.012 -0.182 -0.16" rgba="0 0 1 0" size="0.0232" />
            <site name="3_table_leg3_top_site" pos="0.012 0.0 0.15" rgba="0 0 1 0" size="0.0232" />
            <site name="3_table_leg3_horizontal_radius_site" pos="0.012 0.0 0.0" rgba="0 0 1 0" size="0.14" />
        </body>
        <body name="4_table_leg4" pos="0.007 -0.168 0.1666" quat="1 0 0 0">
            <geom conaffinity="0" contype="0" density="0" material="light-wood" mesh="table_leg4" name="table_leg4_geom" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <geom density="50" euler="0 0 0" name="noviz_collision_4_table_leg4_1" pos="-0.17 -0.015 0.0" rgba="1 0 0 1" size="0.012 0.012 0.16" solref="0.001 1" type="box" />
            <geom density="50" euler="0 0 0" name="noviz_collision_4_table_leg4_2" pos="0.0 -0.015 0.15" rgba="1 0 0 1" size="0.182 0.012 0.012" solref="0.001 1" type="box" />
            <site group="0" name="leg4-table,0,conn_site" pos="0.0 -0.01 0.16" rgba="1 1 0 0.3" size="0.01" />
            <site name="4_table_leg4_corner_site1" pos="-0.182 -0.012 0.15" rgba="0 0 1 0.3" size="0.005" />
            <site name="4_table_leg4_corner_site2" pos="0.182 -0.012 0.15" rgba="0 0 1 0.3" size="0.005" />
            <site name="4_table_leg4_corner_site3" pos="-0.182 -0.012 -0.16" rgba="0 0 1 0.3" size="0.005" />
            <site name="4_table_leg4_bottom_site" pos="-0.182 -0.012 -0.16" rgba="0 0 1 0" size="0.0232" />
            <site name="4_table_leg4_top_site" pos="0.0 -0.012 0.15" rgba="0 0 1 0" size="0.0232" />
            <site name="4_table_leg4_horizontal_radius_site" pos="0.0 -0.012 0.0" rgba="0 0 1 0" size="0.14" />
        </body>
        <body name="5_table_top" pos="0.01 0.0 0.35" quat="1 0 0 0">
            <geom conaffinity="0" contype="0" density="0" material="light-wood" mesh="table_top" name="table_top_geom" pos="0.0 0.0 0.0" rgba="0.82 0.71 0.55 1" solref="0.001 1" type="mesh" />
            <geom density="200" euler="0 0 0" name="noviz_collision_5_table_top_1" pos="0.0 0.0 0.0" rgba="1 0 0 1" size="0.2 0.2 0.024" solref="0.001 1" type="box" />
            <site group="0" name="table-leg1,0,conn_site" pos="-0.184 0.0 -0.025" rgba="1 0 0 0.3" size="0.01" />
            <site group="0" name="table-leg2,0,conn_site" pos="0.0 0.184 -0.025" rgba="0 1 1 0.3" size="0.01" />
            <site group="0" name="table-leg3,0,conn_site" pos="0.184 -0.012 -0.025" rgba="1 0 1 0.3" size="0.01" />
            <site group="0" name="table-leg4,0,conn_site" pos="0.0 -0.184 -0.025" rgba="1 1 0 0.3" size="0.01" />

            <site name="5_table_top_corner_site1" pos="-0.2 -0.2 -0.024" rgba="0 0 1 0.3" size="0.005" />
            <site name="5_table_top_corner_site2" pos="-0.2 0.2 -0.024" rgba="0 0 1 0.3" size="0.005" />
            <site name="5_table_top_corner_site3" pos="0.2 -0.2 -0.024" rgba="0 0 1 0.3" size="0.005" />
            <site name="5_table_top_corner_site4" pos="0.2 0.2 -0.024" rgba="0 0 1 0.3" size="0.005" />
            <site name="5_table_top_corner_site5" pos="-0.2 -0.2 0.024" rgba="0 0 1 0.3" size="0.005" />
            <site name="5_table_top_corner_site6" pos="-0.2 0.2 0.024" rgba="0 0 1 0.3" size="0.005" />
            <site name="5_table_top_corner_site7" pos="0.2 -0.2 0.024" rgba="0 0 1 0.3" size="0.005" />
            <site name="5_table_top_corner_site8" pos="0.2 0.2 0.024" rgba="0 0 1 0.3" size="0.005" />

            <site name="5_table_top_bottom_site" pos="0.0 0.0 -0.024" rgba="0 0 1 0.3" size="0.0132" />
            <site name="5_table_top_top_site" pos="0.0 0.0 0.024" rgba="0 0 1 0.3" size="0.0132" />
            <site name="5_table_top_horizontal_radius_site" pos="0.0 0.0 0.0" rgba="0 0 1 0" size="0.2" />
        </body>
    </worldbody>
</mujoco>
