<mujoco model="panda scene">
  <include file="mjx_panda.xml" />
  <include file="sektion_cabinet_2.xml" />

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

  <option timestep="0.002" iterations="50" ls_iterations="20" integrator="implicitfast">
    <flag eulerdamp="disable" />
  </option>


  <visual>
    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
    <rgba haze="0.1 0.1 0.1 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>
    <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" type="plane" material="motphys-ground" contype="1" />
  </worldbody>
</mujoco>