diff --git a/andino_mujoco/andino_mujoco_description/mjcf/include/hq4_office.xml b/andino_mujoco/andino_mujoco_description/mjcf/include/hq4_office.xml
index 2f7bf70..20d8db9 100644
--- a/andino_mujoco/andino_mujoco_description/mjcf/include/hq4_office.xml
+++ b/andino_mujoco/andino_mujoco_description/mjcf/include/hq4_office.xml
@@ -2,13 +2,14 @@
     <compiler angle="radian" meshdir="../meshes" balanceinertia="true"/>
 
     <asset>
-        <mesh name="hq4_office" file="hq4_office_ceiling.stl" scale="1 1 1"/>
-        <material name="material_1" emission="0.85" specular="0.35" rgba="0.5 0.5 0.5 1"/>
+        <material name="Wall" emission="0.85" specular="0.35" rgba="0.5 0.5 0.5 1"/>
+
+        <mesh name="hq4_office" file="hq4_office_ceiling.stl"/>
     </asset>
 
     <worldbody>
-        <body name="hq4_office" pos="0. 0. -0.10" euler="0. 0. -1.57">
-            <geom name="office" type="mesh" mesh="hq4_office" group="2" contype="0" conaffinity="0" material="material_1"/>
+        <body name="hq4_office" euler="0. 0. -1.57">
+            <geom mesh="hq4_office" material="Wall" type="mesh" contype="0" conaffinity="0" group="1"/>
         </body><!-- hq4_office -->
     </worldbody>
 </mujoco>
diff --git a/andino_mujoco/andino_mujoco_description/mjcf/include/table.xml b/andino_mujoco/andino_mujoco_description/mjcf/include/table.xml
index 50715d2..ca2e8a4 100644
--- a/andino_mujoco/andino_mujoco_description/mjcf/include/table.xml
+++ b/andino_mujoco/andino_mujoco_description/mjcf/include/table.xml
@@ -1,45 +1,49 @@
 <mujoco model="table">
     <compiler angle="radian" balanceinertia="true"/>
 
+    <asset>
+        <material name="Wood" rgba="0.52 0.38 0.25 1"/>
+    </asset>
+
     <worldbody>
-        <body name="table" pos="0.0 0.0 0.6">
+        <body name="table" pos="0.0 0.0 0.625">
 
             <body name="left_side_table" pos="0.0 -0.5850000000000001 0.05">
-                <geom name="left_side" type="box" size="1.12 0.025 0.05" rgba="0.52 0.38 0.25 1"/>
+                <geom name="left_side" type="box" size="1.12 0.025 0.05" material="Wood"/>
             </body><!-- Left side -->
 
             <body name="right_side_table" pos="0.0 0.5850000000000001 0.05">
-                <geom name="right_side" type="box" size="1.12 0.025 0.05" rgba="0.52 0.38 0.25 1"/>
+                <geom name="right_side" type="box" size="1.12 0.025 0.05" material="Wood"/>
             </body><!-- Right side -->
 
             <body name="front_side_table" pos="1.145 0.0 0.05">
-                <geom name="front_side" type="box" size="0.025 0.56 0.05" rgba="0.52 0.38 0.25 1"/>
+                <geom name="front_side" type="box" size="0.025 0.56 0.05" material="Wood"/>
             </body><!-- Front side -->
 
             <body name="back_side_table" pos="-1.145 0.0 0.05">
-                <geom name="back_side" type="box" size="0.025 0.56 0.05" rgba="0.52 0.38 0.25 1"/>
+                <geom name="back_side" type="box" size="0.025 0.56 0.05" material="Wood"/>
             </body><!-- Back side -->
 
             <body name="base_table" pos="0.0 0.0 -0.025">
-                <geom name="base_surface" type="box" size="1.12 0.56 0.025" friction="1 0.005 0.0001" rgba="0.52 0.38 0.25 1"/>
+                <geom name="base_surface" type="box" size="1.12 0.56 0.025" friction="1 0.005 0.0001" material="Wood"/>
             </body><!-- Base -->
 
             <body name="table_legs" pos="0.0 0.0 -0.6">
 
                 <body name="left_top_leg" pos="1.12 0.56 0.27499999999999997">
-                    <geom name="left_top_leg" type="box" size="0.05 0.05 0.3" rgba="0.52 0.38 0.25 1"/>
+                    <geom name="left_top_leg" type="box" size="0.05 0.05 0.3" material="Wood"/>
                 </body><!-- left_top_leg -->
 
                 <body name="right_top_leg" pos="1.12 -0.56 0.27499999999999997">
-                    <geom name="right_top_leg" type="box" size="0.05 0.05 0.3" rgba="0.52 0.38 0.25 1"/>
+                    <geom name="right_top_leg" type="box" size="0.05 0.05 0.3" material="Wood"/>
                 </body><!-- right_top_leg -->
 
                 <body name="left_bottom_leg" pos="-1.12 0.56 0.27499999999999997">
-                    <geom name="left_bottom_leg" type="box" size="0.05 0.05 0.3" rgba="0.52 0.38 0.25 1"/>
+                    <geom name="left_bottom_leg" type="box" size="0.05 0.05 0.3" material="Wood"/>
                 </body><!-- left_bottom_leg -->
 
                 <body name="right_bottom_leg" pos="-1.12 -0.56 0.27499999999999997">
-                    <geom name="right_bottom_leg" type="box" size="0.05 0.05 0.3" rgba="0.52 0.38 0.25 1"/>
+                    <geom name="right_bottom_leg" type="box" size="0.05 0.05 0.3" material="Wood"/>
                 </body><!-- right_bottom_leg -->
 
             </body><!-- Legs -->
diff --git a/andino_mujoco/andino_mujoco_description/mjcf/scene.xml b/andino_mujoco/andino_mujoco_description/mjcf/scene.xml
index 652ab52..f83af34 100644
--- a/andino_mujoco/andino_mujoco_description/mjcf/scene.xml
+++ b/andino_mujoco/andino_mujoco_description/mjcf/scene.xml
@@ -5,12 +5,21 @@
     <include file="include/table.xml"/>
     <include file="include/hq4_office.xml"/>
 
-    <worldbody>
-        <light diffuse="1 1 1" pos = "0 0 12" dir="0 0 -1"></light>
-        <light diffuse="1 1 1" pos = "0 4 0" dir="0 -1 0"></light>
-        <light diffuse="1 1 1" pos = "4 0 0" dir="-1 0 0"></light>
+    <visual>
+        <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+        <rgba haze="0.15 0.25 0.35 1"/>
+        <global azimuth="120" elevation="-20"/>
+    </visual>
+
+    <asset>
+        <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+        markrgb="0.8 0.8 0.8" width="300" height="300"/>
 
-        <geom name="ground_plane" type="plane" size="10 17 0.1" friction=".1" contype="1" conaffinity="1" rgba="0 .5 .8 1"/>
+        <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    </asset>
+
+    <worldbody>
+        <geom name="ground_plane" type="plane" pos="0 0 0" size="0 0 1" friction=".1" rgba="0 .5 .8 1" material="groundplane"/>
     </worldbody>
 
 </mujoco>
