Blame for eval_envs/OpenDrawer/21/environment.xml

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      <geom name="distr_counter_1_g10" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_31._coll"/>
      <geom name="distr_counter_1_g11" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_25._coll"/>
      <geom name="distr_counter_1_g12" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_27._coll"/>
      <geom name="distr_counter_1_g13" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_26._coll"/>
      <geom name="distr_counter_1_g14" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_9._coll"/>
      <geom name="distr_counter_1_g15" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_8._coll"/>
      <geom name="distr_counter_1_g16" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_6._coll"/>
      <geom name="distr_counter_1_g17" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_7._coll"/>
      <geom name="distr_counter_1_g18" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_5._coll"/>
      <geom name="distr_counter_1_g19" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_4._coll"/>
      <geom name="distr_counter_1_g20" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_0._coll"/>
      <geom name="distr_counter_1_g21" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_1._coll"/>
      <geom name="distr_counter_1_g22" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_3._coll"/>
      <geom name="distr_counter_1_g23" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_2._coll"/>
      <geom name="distr_counter_1_g24" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_17._coll"/>
      <geom name="distr_counter_1_g25" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_16._coll"/>
      <geom name="distr_counter_1_g26" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_28._coll"/>
      <geom name="distr_counter_1_g27" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_14._coll"/>
      <geom name="distr_counter_1_g28" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_15._coll"/>
      <geom name="distr_counter_1_g29" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_29._coll"/>
      <geom name="distr_counter_1_g30" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_11._coll"/>
      <geom name="distr_counter_1_g31" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_10._coll"/>
      <geom name="distr_counter_1_g32" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_12._coll"/>
      <geom name="distr_counter_1_g33" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_1_model_normalized_collision_13._coll"/>
      <site name="distr_counter_1_default_site" pos="0 0 0" size="0.0035" rgba="1 0 0 0"/>
    </body>
    <body name="distr_counter_2_main">
      <joint name="distr_counter_2_joint0" type="free" limited="false" actuatorfrclimited="false" damping="0.0005"/>
      <geom name="distr_counter_2_g0" type="mesh" contype="0" conaffinity="0" group="1" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" material="distr_counter_2_material.015" mesh="distr_counter_2_model_normalized_0_vis"/>
      <geom name="distr_counter_2_g1" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_22._coll"/>
      <geom name="distr_counter_2_g2" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_23._coll"/>
      <geom name="distr_counter_2_g3" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_21._coll"/>
      <geom name="distr_counter_2_g4" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_20._coll"/>
      <geom name="distr_counter_2_g5" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_24._coll"/>
      <geom name="distr_counter_2_g6" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_30._coll"/>
      <geom name="distr_counter_2_g7" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_18._coll"/>
      <geom name="distr_counter_2_g8" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_19._coll"/>
      <geom name="distr_counter_2_g9" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_31._coll"/>
      <geom name="distr_counter_2_g10" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_25._coll"/>
      <geom name="distr_counter_2_g11" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_27._coll"/>
      <geom name="distr_counter_2_g12" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_26._coll"/>
      <geom name="distr_counter_2_g13" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_9._coll"/>
      <geom name="distr_counter_2_g14" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_8._coll"/>
      <geom name="distr_counter_2_g15" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_6._coll"/>
      <geom name="distr_counter_2_g16" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_7._coll"/>
      <geom name="distr_counter_2_g17" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_5._coll"/>
      <geom name="distr_counter_2_g18" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_4._coll"/>
      <geom name="distr_counter_2_g19" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_0._coll"/>
      <geom name="distr_counter_2_g20" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_1._coll"/>
      <geom name="distr_counter_2_g21" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_3._coll"/>
      <geom name="distr_counter_2_g22" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_2._coll"/>
      <geom name="distr_counter_2_g23" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_17._coll"/>
      <geom name="distr_counter_2_g24" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_16._coll"/>
      <geom name="distr_counter_2_g25" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_28._coll"/>
      <geom name="distr_counter_2_g26" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_14._coll"/>
      <geom name="distr_counter_2_g27" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_15._coll"/>
      <geom name="distr_counter_2_g28" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_29._coll"/>
      <geom name="distr_counter_2_g29" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_11._coll"/>
      <geom name="distr_counter_2_g30" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_10._coll"/>
      <geom name="distr_counter_2_g31" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_12._coll"/>
      <geom name="distr_counter_2_g32" type="mesh" friction="0.95 0.3 0.1" solref="0.001 2" solimp="0.998 0.998" density="100" rgba="0.8 0.8 0.8 0" mesh="distr_counter_2_model_normalized_collision_13._coll"/>
      <site name="distr_counter_2_default_site" pos="0 0 0" size="0.0036" rgba="1 0 0 0"/>
    </body>
  </worldbody>

  <actuator>
    <general name="robot0_torq_j1" joint="robot0_joint1" ctrllimited="true" ctrlrange="-80 80"/>
    <general name="robot0_torq_j2" joint="robot0_joint2" ctrllimited="true" ctrlrange="-80 80"/>
    <general name="robot0_torq_j3" joint="robot0_joint3" ctrllimited="true" ctrlrange="-80 80"/>
    <general name="robot0_torq_j4" joint="robot0_joint4" ctrllimited="true" ctrlrange="-80 80"/>
    <general name="robot0_torq_j5" joint="robot0_joint5" ctrllimited="true" ctrlrange="-80 80"/>
    <general name="robot0_torq_j6" joint="robot0_joint6" ctrllimited="true" ctrlrange="-12 12"/>
    <general name="robot0_torq_j7" joint="robot0_joint7" ctrllimited="true" ctrlrange="-12 12"/>
    <general name="mobilebase0_actuator_mobile_forward" joint="mobilebase0_joint_mobile_forward" ctrllimited="true" ctrlrange="-1 1" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1000" biasprm="0 0 -1000"/>
    <general name="mobilebase0_actuator_mobile_side" joint="mobilebase0_joint_mobile_side" ctrllimited="true" ctrlrange="-1 1" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1000" biasprm="0 0 -1000"/>
    <general name="mobilebase0_actuator_mobile_yaw" joint="mobilebase0_joint_mobile_yaw" ctrllimited="true" ctrlrange="-1.5 1.5" forcelimited="true" forcerange="-600 600" biastype="affine" gainprm="1500" biasprm="0 0 -1500"/>
    <general name="mobilebase0_actuator_torso_height" joint="mobilebase0_joint_torso_height" ctrllimited="true" ctrlrange="-100000 100000" forcelimited="false"/>
    <general name="gripper0_right_gripper_finger_joint1" joint="gripper0_right_finger_joint1" ctrllimited="true" ctrlrange="0 0.04" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="1000" biasprm="0 -1000"/>
    <general name="gripper0_right_gripper_finger_joint2" joint="gripper0_right_finger_joint2" ctrllimited="true" ctrlrange="-0.04 0" forcelimited="true" forcerange="-20 20" biastype="affine" gainprm="1000" biasprm="0 -1000"/>
  </actuator>

  <sensor>
    <force site="gripper0_right_ft_frame" name="gripper0_right_force_ee"/>
    <torque site="gripper0_right_ft_frame" name="gripper0_right_torque_ee"/>
  </sensor>
</mujoco>