scenes/libero_coffee_table_warm_style.xml

<mujoco model="table_arena">
  <asset>
    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
    <texture file="../textures/seamless_wood_planks_floor.png" type="2d" name="texplane"/>
    <material name="floorplane" reflectance="0.0" shininess="0.0"
	      specular="0.0" texrepeat="3 3" texture="texplane" texuniform="true"/>
    <!-- ceramic table texture and material-->
    <texture file="../textures/martin_novak_wood_table.png" type="cube" name="tex-table"/>
    <material name="table_texture" reflectance="0.0" shininess="0.0" specular="0.2" texrepeat="1 1" texture="tex-table" />
    <!-- steel legs -->
    <texture file="../textures/martin_novak_wood_table.png" type="cube" name="tex-table-legs"/>
    <material name="table_legs" reflectance="0.8" shininess="0.8" texrepeat="1 1" texture="tex-table-legs" />
    <!-- linen wall texture walls -->
    <texture file="../textures/linen_wall_texture.png" type="2d" name="tex-wall"/>

    <material name="walls_mat" reflectance="0.0" shininess="0.1" specular="0.8" texrepeat="3 3" texture="tex-wall" 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" />

    <texture file="coffee_table_seats/FabricLeatherBuffaloRustic001_COL_VAR1_4K.png" name="tex-coffee_table_seats" type="2d"/>
    <material name="coffee_table_seats" reflectance="0.5" texrepeat="1 1" texture="tex-coffee_table_seats" texuniform="false"/>
    <mesh file="coffee_table_seats/visual/coffee_table_seats_vis.msh" name="coffee_table_seats_vis" scale="1.0 1.0 1.0"/>

    <texture file="short_coffee_table/Marble062_COL_4K.png" name="tex-short_coffee_table" type="2d"/>
    <material name="short_coffee_table" reflectance="0.5" texrepeat="1 1" texture="tex-short_coffee_table" texuniform="false"/>
    <mesh file="short_coffee_table/visual/short_coffee_table_vis.msh" name="short_coffee_table_vis" scale="1.0 1.0 1.0"/>
    
    <texture file="wall_decoration/wall_decoration_texture.png" name="tex-wall_decoration" type="2d"/>
    <material name="wall_decoration" reflectance="0.5" texrepeat="1 1" texture="tex-wall_decoration" texuniform="false"/>
    <mesh file="wall_decoration/visual/wall_decoration_vis.msh" name="wall_decoration_vis" scale="0.4 0.1 0.4"/>
        
  </asset>
  <worldbody>
    <!-- Floor -->
    <body name="floor" pos="0 0 0">    
      <geom condim="3" group="1" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
    </body>

    <geom pos="-1.0 0 1.5" quat="0.7071068 0 0 -0.7071068" type="mesh" mesh="wall_decoration_vis" conaffinity="0" contype="0" group="1" name="wall_decoration" material="wall_decoration"/>

    <body name="coffee_table" pos="0 0 0">    
      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="short_coffee_table_vis" conaffinity="0" contype="0" group="1" material="short_coffee_table"/>
      <geom pos="0.0 0.06 0.41" size="0.35 0.8 0.014" type="box" group="0" name="coffee_table_collision" friction="1 0.005 0.0001"/>
      <geom solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" type="mesh" mesh="coffee_table_seats_vis" conaffinity="0" contype="0" group="1" material="coffee_table_seats"/>
    </body>
    
    <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 -->
    <light name="light1" 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 name="light2" 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="1.0 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>