<mujoco model="table_square">
  <worldbody>
      <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-3 -3 3' dir='1 1 -1'/>
      <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='3 -3 3'  dir='-1 1 -1'/>
      <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 3 3'   dir='0 -1 -1'/>
      <body name="table" pos="0.0 1.0 0.44">
          <geom name="table" condim="4" contype="1" conaffinity="1"  type="box" rgba="0.4 0.4 0.4 1" size="0.62 0.62 0.01" density="1500" friction="0.9 0.9 0.9"/>
      </body>
      <camera name="top" pos="0.0 1.0 2.0" fovy="44" mode="targetbody" target="table"/>
      <camera name="angle" pos="0.0 0.0 2.0" fovy="37" mode="targetbody" target="table"/>
      <camera name="front" pos="0 0 0.9" fovy="55" mode="fixed" quat="0.7071 0.7071 0 0"/>
  </worldbody>
</mujoco>
