<mujoco model="panda scene">
  <include file="mjx_panda.xml" />

  <statistic center="0.3 0 0.4" extent="1" />

  <option timestep="0.005" iterations="5" ls_iterations="8" integrator="implicitfast">
    <flag eulerdamp="disable" />
  </option>

  <custom>
    <numeric data="12" name="max_contact_points" />
  </custom>

  <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" />
    <scale contactwidth="0.075" contactheight="0.025" forcewidth="0.05" com="0.05" framewidth="0.01" framelength="0.2" />
  </visual>

  <asset>
    <material name="Transport" rgba="0 1 0 0" reflectance="0.5" metallic="0.0" roughness="0.5" />
    <texture type="2d" colorspace="sRGB" name="small_meta_table_diffuse" file="small_meta_table_diffuse.png" />
    <texture type="2d" colorspace="linear" name="small_meta_table_nrm" file="small_meta_table_nrm.png" />
    <texture type="2d" colorspace="linear" name="small_meta_table_orm" file="small_meta_table_orm.png" />
    <material name="wood" rgba="0.8 0.8 0.8 1" reflectance="0.25" metallic="0.0" roughness=".95">
      <layer texture="small_meta_table_diffuse" role="rgb" />
      <layer texture="small_meta_table_nrm" role="normal" />
      <layer texture="small_meta_table_orm" role="orm" />
    </material>
    <!-- Table dimensions (length x width x height in meters): 1.21x0.76x0.75 -->
    <material name="chrome" rgba="0.8 0.8 0.8 1" reflectance="0.5" metallic="1.0" roughness="0.44999998807907104" />
    <mesh file="tablelegs.obj" />
    <mesh file="tabletop.obj" />

    <texture name="skybox" type="skybox" builtin="gradient" rgb1="0.4 0.4 0.4" rgb2="0 0 0" width="512" height="512" />
    <texture name="motphys-ground" type="2d" file="../../../common/motphys-ground.png" />
    <material name="motphys-ground" texture="motphys-ground" texuniform="true" texrepeat="0.4 0.4" />

  </asset>

  <worldbody>
    <light diffuse="0.6 0.6 0.6" pos="0 0 1.5" dir="-0.49835488200187683 0.2925136387348175 -0.8161361217498779" directional="true" />
    <geom name="floor" size="0 0 0.05" pos="0 0 -0.75" type="plane" material="motphys-ground" contype="1" />

    <geom mesh="tabletop" material="wood" class="visual" pos="0.3 0 -0.75" quat="1 0 0 1" />
    <geom mesh="tablelegs" material="chrome" class="visual" pos="0.3 0 -0.75" quat="1 0 0 1" />
    <geom name="table" size="0.6 0.37 0.02" type="box" material="Transport" pos="0.30 0 -0.02" />

    <body name="free_cube">
      <freejoint />
      <geom name="cube" type="box" size="0.02 0.02 0.02" pos="0.5 0 0.01" rgba="1 0 0 1" />
    </body>
  </worldbody>
</mujoco>