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+      "scene_xml_content": "<?xml version=\"1.0\" ?>\n<!--\nSO101 robot model with wrist camera.\nBased on so101_new_calib.xml from SO-ARM100 submodule, with wrist camera added.\nMesh files are referenced from the submodule.\n-->\n<mujoco model=\"so101_with_wrist_cam\">\n  <!-- Point to mesh files in submodule -->\n  <compiler angle=\"radian\" meshdir=\"../assets/SO-ARM100/Simulation/SO101/assets\" autolimits=\"true\"/>\n\n  <!-- Global simulation options for reliable collision -->\n  <option timestep=\"0.002\" impratio=\"1\" gravity=\"0 0 -9.81\" cone=\"elliptic\" noslip_iterations=\"10\"/>\n\n  <visual>\n    <headlight diffuse=\"0.6 0.6 0.6\" ambient=\"0.3 0.3 0.3\" specular=\"0 0 0\" />\n    <rgba haze=\"0.15 0.25 0.35 1\" />\n    <global azimuth=\"160\" elevation=\"-20\" offwidth=\"1920\" offheight=\"1080\"/>\n    <quality shadowsize=\"4096\"/>\n  </visual>\n\n  <default>\n    <default class=\"so101_new_calib\">\n      <joint damping=\"1\" frictionloss=\"0.1\" armature=\"0.005\"/>\n      <position kp=\"50\"/>\n      <default class=\"visual\">\n        <geom type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"2\"/>\n      </default>\n      <default class=\"collision\">\n        <geom group=\"3\" contype=\"3\" conaffinity=\"3\"/>\n      </default>\n    </default>\n    <default class=\"sts3215\">\n      <geom contype=\"0\" conaffinity=\"0\"/>\n      <joint damping=\"0.60\" frictionloss=\"0.052\" armature=\"0.028\"/>\n      <position kp=\"17.8\"/>\n    </default>\n    <default class=\"backlash\">\n      <joint damping=\"0.01\" frictionloss=\"0\" armature=\"0.01\" limited=\"true\" range=\"-0.008726646259971648 0.008726646259971648\"/>\n    </default>\n  <default class=\"fingerpad\">\n    <geom\n      type=\"box\"\n      size=\"0.004 0.015 0.010\"\n      friction=\"100 10 0.1\"\n      condim=\"6\"\n      solref=\"0.002 1\"\n      solimp=\"0.999 0.9999 0.00001\"\n      contype=\"3\"\n      conaffinity=\"3\"\n      rgba=\"0.15 0.15 0.15 0.2\"\n      group=\"0\"\n      priority=\"1\"/>\n  </default>\n  </default>\n\n  <asset>\n    <!-- Textures and materials for scene -->\n    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\"0.3 0.5 0.7\" rgb2=\"0 0 0\" width=\"512\" height=\"3072\" />\n    <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\" />\n    <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.2\" />\n    <material name=\"duplo_white\" rgba=\"0.95 0.95 0.95 1\" />\n\n    <!-- Robot meshes from submodule -->\n    <mesh file=\"waveshare_mounting_plate_so101_v2.stl\"/>\n    <mesh file=\"sts3215_03a_v1.stl\"/>\n    <mesh file=\"motor_holder_so101_base_v1.stl\"/>\n    <mesh file=\"wrist_roll_follower_so101_v1.stl\"/>\n    <mesh file=\"moving_jaw_so101_v1.stl\"/>\n    <mesh file=\"base_motor_holder_so101_v1.stl\"/>\n    <mesh file=\"upper_arm_so101_v1.stl\"/>\n    <mesh file=\"wrist_roll_pitch_so101_v2.stl\"/>\n    <mesh file=\"under_arm_so101_v1.stl\"/>\n    <mesh file=\"rotation_pitch_so101_v1.stl\"/>\n    <mesh file=\"motor_holder_so101_wrist_v1.stl\"/>\n    <mesh file=\"sts3215_03a_no_horn_v1.stl\"/>\n    <mesh file=\"base_so101_v2.stl\"/>\n\n    <!-- Robot materials -->\n    <material name=\"base_motor_holder_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"base_so101_v2_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"sts3215_03a_v1_material\" rgba=\"0.1 0.1 0.1 1\"/>\n    <material name=\"waveshare_mounting_plate_so101_v2_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"motor_holder_so101_base_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"rotation_pitch_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"upper_arm_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"under_arm_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"motor_holder_so101_wrist_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"sts3215_03a_no_horn_v1_material\" rgba=\"0.1 0.1 0.1 1.0\"/>\n    <material name=\"wrist_roll_pitch_so101_v2_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"wrist_roll_follower_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"moving_jaw_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n  </asset>\n\n  <worldbody>\n    <!-- Scene elements -->\n    <light pos=\"0 0 3.5\" dir=\"0 0 -1\" directional=\"true\" />\n    <geom name=\"floor\" size=\"0 0 0.05\" pos=\"0 0 0\" type=\"plane\" material=\"groundplane\" contype=\"1\" conaffinity=\"3\"/>\n\n    <!-- Overhead camera (Nuroum V11: 90\u00c2\u00b0 diagonal FOV -> ~52\u00c2\u00b0 vertical for 16:9) -->\n    <camera name=\"overhead_cam\" pos=\"0.3 -0.09 0.6\" axisangle=\"0 0 1 -1.5708\" fovy=\"52\"/>\n\n    <!-- Bowl/container for pick and place target -->\n    <!-- Position: moved 10cm right (-Y) -->\n    <!-- Square container with thin walls, 12cm x 12cm x 3cm deep -->\n    <body name=\"bowl\" pos=\"0.217 -0.225 0.0\">\n      <!-- Base (thin plate) -->\n      <geom name=\"bowl_base\" type=\"box\" size=\"0.06 0.06 0.002\" pos=\"0 0 0.002\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.5 0.5 0.01\"/>\n      <!-- Walls (4 sides) -->\n      <geom name=\"bowl_wall_px\" type=\"box\" size=\"0.003 0.06 0.015\" pos=\"0.06 0 0.017\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.3 0.3 0.01\"/>\n      <geom name=\"bowl_wall_nx\" type=\"box\" size=\"0.003 0.06 0.015\" pos=\"-0.06 0 0.017\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.3 0.3 0.01\"/>\n      <geom name=\"bowl_wall_py\" type=\"box\" size=\"0.06 0.003 0.015\" pos=\"0 0.06 0.017\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.3 0.3 0.01\"/>\n      <geom name=\"bowl_wall_ny\" type=\"box\" size=\"0.06 0.003 0.015\" pos=\"0 -0.06 0.017\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.3 0.3 0.01\" mass=\"0.1\"/>\n    </body>\n\n    <!-- White Duplo 2x4 brick for pick and place task -->\n    <!-- Duplo 2x4: 64mm x 32mm x 19.2mm body + 4.5mm studs -->\n    <!-- Position: moved 10cm left (+Y) -->\n    <body name=\"duplo\" pos=\"0.217 0.225 0.0096\">\n      <freejoint name=\"duplo_joint\"/>\n      <!-- Main brick body - high friction for gripping -->\n      <geom name=\"duplo_body\" type=\"box\" size=\"0.032 0.016 0.0096\" material=\"duplo_white\" mass=\"0.03\"\n        contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\" condim=\"6\" margin=\"0.001\"\n        solref=\"0.002 1\" solimp=\"0.999 0.9999 0.00001\"/>\n      <!-- Studs (8 total: 4x2 grid, 16mm spacing, 9.6mm diameter, 4.5mm tall) -->\n      <!-- Row 1 (y = -0.008) -->\n      <geom name=\"stud_1\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"-0.024 -0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_2\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"-0.008 -0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_3\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"0.008 -0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_4\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"0.024 -0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <!-- Row 2 (y = +0.008) -->\n      <geom name=\"stud_5\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"-0.024 0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_6\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"-0.008 0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_7\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"0.008 0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_8\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"0.024 0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n    </body>\n\n    <!-- Robot arm -->\n    <body name=\"base\" pos=\"0 0 0\" quat=\"1 0 0 0\" childclass=\"so101_new_calib\">\n      <inertial pos=\"0.0137179 -5.19711e-05 0.0334843\" mass=\"0.147\" fullinertia=\"0.000114686 0.000136117 0.000130364 -4.59787e-07 4.97151e-06 9.75275e-08\"/>\n      <geom type=\"mesh\" class=\"visual\" pos=\"-0.00636471 -9.94414e-05 -0.0024\" quat=\"0.5 0.5 0.5 0.5\" mesh=\"base_motor_holder_so101_v1\" material=\"base_motor_holder_so101_v1_material\"/>\n      <geom type=\"mesh\" class=\"visual\" pos=\"-0.00636471 -8.97657e-09 -0.0024\" quat=\"0.5 0.5 0.5 0.5\" mesh=\"base_so101_v2\" material=\"base_so101_v2_material\"/>\n      <geom type=\"mesh\" class=\"visual\" pos=\"0.0263353 -8.97657e-09 0.0437\" quat=\"1 -2.85511e-16 -9.64433e-17 6.12908e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n      <geom type=\"mesh\" class=\"visual\" pos=\"-0.0309827 -0.000199441 0.0474\" quat=\"0.5 0.5 0.5 0.5\" mesh=\"waveshare_mounting_plate_so101_v2\" material=\"waveshare_mounting_plate_so101_v2_material\"/>\n      <site group=\"3\" name=\"baseframe\" pos=\"8.67362e-19 9.55596e-18 3.46945e-18\" quat=\"1 -8.17396e-19 3.78392e-17 2.22045e-16\"/>\n\n      <body name=\"shoulder\" pos=\"0.0388353 -8.97657e-09 0.0624\" quat=\"3.56167e-16 1.22818e-15 -1 -4.14635e-16\">\n        <joint axis=\"0 0 1\" name=\"shoulder_pan\" type=\"hinge\" range=\"-1.9198621771937616 1.9198621771937634\" class=\"sts3215\"/>\n        <inertial pos=\"-0.0307604 -1.66727e-05 -0.0252713\" mass=\"0.100006\" fullinertia=\"8.3759e-05 8.10403e-05 2.39783e-05 7.55525e-08 -1.16342e-06 1.54663e-07\"/>\n        <geom type=\"mesh\" class=\"visual\" pos=\"-0.0303992 0.000422241 -0.0417\" quat=\"0.5 0.5 0.5 -0.5\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n        <geom type=\"mesh\" class=\"collision\" pos=\"-0.0303992 0.000422241 -0.0417\" quat=\"0.5 0.5 0.5 -0.5\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n        <geom type=\"mesh\" class=\"visual\" pos=\"-0.0675992 -0.000177759 0.0158499\" quat=\"0.5 0.5 -0.5 0.5\" mesh=\"motor_holder_so101_base_v1\" material=\"motor_holder_so101_base_v1_material\"/>\n        <geom type=\"mesh\" class=\"collision\" pos=\"-0.0675992 -0.000177759 0.0158499\" quat=\"0.5 0.5 -0.5 0.5\" mesh=\"motor_holder_so101_base_v1\" material=\"motor_holder_so101_base_v1_material\"/>\n        <geom type=\"mesh\" class=\"visual\" pos=\"0.0122008 2.22413e-05 0.0464\" quat=\"0.707107 -0.707107 -0 8.3163e-34\" mesh=\"rotation_pitch_so101_v1\" material=\"rotation_pitch_so101_v1_material\"/>\n        <geom type=\"mesh\" class=\"collision\" pos=\"0.0122008 2.22413e-05 0.0464\" quat=\"0.707107 -0.707107 -0 8.3163e-34\" mesh=\"rotation_pitch_so101_v1\" material=\"rotation_pitch_so101_v1_material\"/>\n\n        <body name=\"upper_arm\" pos=\"-0.0303992 -0.0182778 -0.0542\" quat=\"0.5 -0.5 -0.5 -0.5\">\n          <joint axis=\"0 0 1\" name=\"shoulder_lift\" type=\"hinge\" range=\"-1.7453292519943224 1.7453292519943366\" class=\"sts3215\"/>\n          <inertial pos=\"-0.0898471 -0.00838224 0.0184089\" mass=\"0.103\" fullinertia=\"4.08002e-05 0.000147318 0.000142487 -1.97819e-05 -4.03016e-08 8.97326e-09\"/>\n          <geom type=\"mesh\" class=\"visual\" pos=\"-0.11257 -0.0155 0.0187\" quat=\"4.56308e-16 -0.707107 0.707107 -1.37383e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n          <geom type=\"mesh\" class=\"collision\" pos=\"-0.11257 -0.0155 0.0187\" quat=\"4.56308e-16 -0.707107 0.707107 -1.37383e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n          <geom type=\"mesh\" class=\"visual\" pos=\"-0.065085 0.012 0.0182\" quat=\"0 1 0 0\" mesh=\"upper_arm_so101_v1\" material=\"upper_arm_so101_v1_material\"/>\n          <geom type=\"mesh\" class=\"collision\" pos=\"-0.065085 0.012 0.0182\" quat=\"0 1 0 0\" mesh=\"upper_arm_so101_v1\" material=\"upper_arm_so101_v1_material\"/>\n\n          <body name=\"lower_arm\" pos=\"-0.11257 -0.028 1.73763e-16\" quat=\"0.707107 -5.98613e-17 -2.58051e-17 0.707107\">\n            <joint axis=\"0 0 1\" name=\"elbow_flex\" type=\"hinge\" range=\"-1.69 1.69\" class=\"sts3215\"/>\n            <inertial pos=\"-0.0980701 0.00324376 0.0182831\" mass=\"0.104\" fullinertia=\"2.87438e-05 0.000159844 0.00014529 7.41152e-06 1.26409e-06 -4.90188e-08\"/>\n            <geom type=\"mesh\" class=\"visual\" pos=\"-0.0648499 -0.032 0.0182\" quat=\"0 1 0 0\" mesh=\"under_arm_so101_v1\" material=\"under_arm_so101_v1_material\"/>\n            <geom type=\"mesh\" class=\"collision\" pos=\"-0.0648499 -0.032 0.0182\" quat=\"0 1 0 0\" mesh=\"under_arm_so101_v1\" material=\"under_arm_so101_v1_material\"/>\n            <geom type=\"mesh\" class=\"visual\" pos=\"-0.0648499 -0.032 0.018\" quat=\"3.92687e-16 -1 -1.9186e-15 -6.38378e-16\" mesh=\"motor_holder_so101_wrist_v1\" material=\"motor_holder_so101_wrist_v1_material\"/>\n            <geom type=\"mesh\" class=\"collision\" pos=\"-0.0648499 -0.032 0.018\" quat=\"3.92687e-16 -1 -1.9186e-15 -6.38378e-16\" mesh=\"motor_holder_so101_wrist_v1\" material=\"motor_holder_so101_wrist_v1_material\"/>\n            <geom type=\"mesh\" class=\"visual\" pos=\"-0.1224 0.0052 0.0187\" quat=\"7.21645e-16 1.56949e-15 1 -3.33067e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n            <geom type=\"mesh\" class=\"collision\" pos=\"-0.1224 0.0052 0.0187\" quat=\"7.21645e-16 1.56949e-15 1 -3.33067e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n\n            <body name=\"wrist\" pos=\"-0.1349 0.0052 3.62355e-17\" quat=\"0.707107 9.58722e-16 -7.51313e-16 -0.707107\">\n              <joint axis=\"0 0 1\" name=\"wrist_flex\" type=\"hinge\" range=\"-1.6580628494556928 1.6580627293335335\" class=\"sts3215\"/>\n              <inertial pos=\"-0.000103312 -0.0386143 0.0281156\" mass=\"0.079\" fullinertia=\"3.68263e-05 2.5391e-05 2.1e-05 1.7893e-08 -5.28128e-08 3.6412e-06\"/>\n              <geom type=\"mesh\" class=\"visual\" pos=\"8.32667e-17 -0.0424 0.0306\" quat=\"0.5 0.5 0.5 -0.5\" mesh=\"sts3215_03a_no_horn_v1\" material=\"sts3215_03a_no_horn_v1_material\"/>\n              <geom type=\"mesh\" class=\"collision\" pos=\"8.32667e-17 -0.0424 0.0306\" quat=\"0.5 0.5 0.5 -0.5\" mesh=\"sts3215_03a_no_horn_v1\" material=\"sts3215_03a_no_horn_v1_material\"/>\n              <geom type=\"mesh\" class=\"visual\" pos=\"0 -0.028 0.0181\" quat=\"0.5 -0.5 -0.5 -0.5\" mesh=\"wrist_roll_pitch_so101_v2\" material=\"wrist_roll_pitch_so101_v2_material\"/>\n              <geom type=\"mesh\" class=\"collision\" pos=\"0 -0.028 0.0181\" quat=\"0.5 -0.5 -0.5 -0.5\" mesh=\"wrist_roll_pitch_so101_v2\" material=\"wrist_roll_pitch_so101_v2_material\"/>\n\n              <body name=\"gripper\" pos=\"5.55112e-17 -0.0611 0.0181\" quat=\"0.0172091 -0.0172091 0.706897 0.706897\">\n                <joint axis=\"0 0 1\" name=\"wrist_roll\" type=\"hinge\" range=\"-2.7438472969992493 2.841206309382605\" class=\"sts3215\"/>\n                <inertial pos=\"0.000213627 0.000245138 -0.025187\" mass=\"0.087\" fullinertia=\"2.75087e-05 4.33657e-05 3.45059e-05 -3.35241e-07 -5.7352e-06 -5.17847e-08\"/>\n                <geom type=\"mesh\" class=\"visual\" pos=\"0.0077 0.0001 -0.0234\" quat=\"0.707107 -0.707107 1.66015e-15 6.45094e-15\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n                <geom type=\"mesh\" class=\"collision\" pos=\"0.0077 0.0001 -0.0234\" quat=\"0.707107 -0.707107 1.66015e-15 6.45094e-15\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n                <geom type=\"mesh\" class=\"visual\" pos=\"8.32667e-17 -0.000218214 0.000949706\" quat=\"0 1 0 0\" mesh=\"wrist_roll_follower_so101_v1\" material=\"wrist_roll_follower_so101_v1_material\"/>\n                <!-- Mesh collision disabled - using box primitives instead -->\n                <geom type=\"mesh\" class=\"visual\" pos=\"8.32667e-17 -0.000218214 0.000949706\" quat=\"0 1 0 0\" mesh=\"wrist_roll_follower_so101_v1\" contype=\"0\" conaffinity=\"0\" group=\"3\"/>\n                <site group=\"3\" name=\"gripperframe\" pos=\"-0.0079 -0.000218121 -0.0981274\" quat=\"0.707107 -0 0.707107 -2.37788e-17\"/>\n\n                <!-- Fixed jaw finger pad (gripping surface) - BRIGHT RED for debugging -->\n                <geom name=\"fixed_pad\"\n                  type=\"box\"                  \n                  size=\"0.001 0.0065 0.015\"\n                  pos=\"-0.0085 0.0 -0.0894\"\n                  contype=\"3\"\n                  conaffinity=\"3\"\n                  friction=\"100 10 0.1\"\n                  condim=\"6\"\n                  margin=\"0.002\"\n                  solref=\"0.002 1\"\n                  solimp=\"0.999 0.9999 0.00001\"\n                  rgba=\"0 0 0 1\"\n                  priority=\"1\"\n                  group=\"0\"/>\n\n                <!--\n                ================= WRIST CAMERA =================\n                Edit pos and quat to adjust camera position/orientation.\n                Use adjust_wrist_camera.py to find the right values interactively.\n                Camera looks along its -Z axis by default.\n                -->\n                \n                <!-- 1) Anchor -->\n                <body name=\"cam_anchor\"\n                      pos=\"0 0 -0.045\"\n                      quat=\"1 0 0 0\">\n\n                  <!-- 2) Left/right correction (your Z 180\u00c2\u00b0 flip) -->\n                  <body name=\"cam_yawfix\"\n                        axisangle=\"0 0 1 3.14159265\">\n\n                    <!-- 3) Physical camera offset -->\n                    <body name=\"cam_slide\"\n                          pos=\"0.000 0.039 -0.01\">\n\n                      <!-- 4) Pitch down to see the jaws -->\n                      <body name=\"cam_pitch\"\n                            axisangle=\"1 0 0 -0.7\">\n\n                        <camera name=\"wrist_cam\"\n                                pos=\"0 0 0\"\n                                fovy=\"71\"/>\n\n                        <!-- Visual representation of camera (camera looks along -Z) -->\n                        <geom name=\"cam_body\" type=\"box\" size=\"0.008 0.012 0.006\" pos=\"0 0 0.008\"\n                              rgba=\"0.2 0.2 0.2 1\" contype=\"0\" conaffinity=\"0\"/>\n                        <geom name=\"cam_lens\" type=\"cylinder\" size=\"0.005 0.004\" pos=\"0 0 0\"\n                              rgba=\"0.1 0.1 0.3 1\" contype=\"0\" conaffinity=\"0\"/>\n\n                      </body>\n                    </body>\n                  </body>\n                </body>\n\n                <body name=\"moving_jaw_so101_v1\" pos=\"0.0202 0.0188 -0.0234\" quat=\"0.707107 0.707107 -1.85362e-08 1.85362e-08\">\n                  <joint axis=\"0 0 1\" name=\"gripper\" type=\"hinge\" range=\"-0.17453297762778586 1.7453291995659765\" class=\"sts3215\"/>\n                  <inertial pos=\"-0.00157495 -0.0300244 0.0192755\" mass=\"0.012\" fullinertia=\"6.61427e-06 1.89032e-06 5.28738e-06 -3.19807e-07 -5.90717e-09 -1.09945e-07\"/>\n                  <geom type=\"mesh\" class=\"visual\" pos=\"-5.55112e-17 -5.55112e-17 0.0189\" quat=\"1 -0 3.00524e-16 -2.00834e-17\" mesh=\"moving_jaw_so101_v1\" material=\"moving_jaw_so101_v1_material\"/>\n                  <!-- Mesh collision disabled - using finger pad only -->\n                  <geom type=\"mesh\" class=\"visual\" pos=\"-5.55112e-17 -5.55112e-17 0.0189\" quat=\"1 -0 3.00524e-16 -2.00834e-17\" mesh=\"moving_jaw_so101_v1\" contype=\"0\" conaffinity=\"0\" group=\"3\"/>\n\n                  <!-- Moving jaw finger pad (gripping surface) - BRIGHT GREEN for debugging -->\n                  <geom name=\"moving_pad\"\n                    type=\"box\"\n                    size=\"0.001 0.0065 0.015\"\n                    pos=\"-0.012 -0.0669 0.018\"\n                    axisangle=\"1 0 0 1.5708\"\n                    contype=\"3\"\n                    conaffinity=\"3\"\n                    friction=\"100 10 0.1\"\n                    condim=\"6\"\n                    margin=\"0.002\"\n                    solref=\"0.002 1\"\n                    solimp=\"0.999 0.9999 0.00001\"\n                    rgba=\"0 0 0 1\"\n                    priority=\"1\"\n                    group=\"0\"/>\n\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      </body>\n    </body>\n  </worldbody>\n\n  <!-- Contact pairs to override friction for specific geom combinations -->\n  <contact>\n    <!-- Low friction between Duplo and floor (so it falls/slides naturally) -->\n    <pair geom1=\"floor\" geom2=\"duplo_body\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_1\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_2\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_3\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_4\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_5\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_6\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_7\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_8\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <!-- Low friction between finger pads and floor (so gripper doesn't stick) -->\n    <pair geom1=\"floor\" geom2=\"fixed_pad\" friction=\"0.3 0.3 0.001 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"moving_pad\" friction=\"0.3 0.3 0.001 0.0001 0.0001\"/>\n    <!-- Low friction between Duplo and bowl (so it slides in naturally) -->\n    <pair geom1=\"bowl_base\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"bowl_wall_px\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"bowl_wall_nx\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"bowl_wall_py\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"bowl_wall_ny\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n  </contact>\n\n  <actuator>\n    <position class=\"sts3215\" name=\"shoulder_pan\" joint=\"shoulder_pan\" forcerange=\"-3.35 3.35\" ctrlrange=\"-1.91986 1.91986\"/>\n    <position class=\"sts3215\" name=\"shoulder_lift\" joint=\"shoulder_lift\" forcerange=\"-3.35 3.35\" ctrlrange=\"-1.74533 1.74533\"/>\n    <position class=\"sts3215\" name=\"elbow_flex\" joint=\"elbow_flex\" forcerange=\"-3.35 3.35\" ctrlrange=\"-1.69 1.69\"/>\n    <position class=\"sts3215\" name=\"wrist_flex\" joint=\"wrist_flex\" forcerange=\"-3.35 3.35\" ctrlrange=\"-1.65806 1.65806\"/>\n    <position class=\"sts3215\" name=\"wrist_roll\" joint=\"wrist_roll\" forcerange=\"-3.35 3.35\" ctrlrange=\"-2.74385 2.84121\"/>\n    <position class=\"sts3215\" name=\"gripper\" joint=\"gripper\" forcerange=\"-3.35 3.35\" ctrlrange=\"-0.17453 1.74533\"/>\n  </actuator>\n</mujoco>\n",
+      "config": {
+        "n_sim_steps": 10,
+        "camera_width": 640,
+        "camera_height": 480,
+        "sim_cameras": [
+          "wrist_cam",
+          "overhead_cam"
+        ],
+        "use_degrees": false
+      },
+      "action_space": {
+        "low": [
+          -1.91986,
+          -1.74533,
+          -1.69,
+          -1.65806,
+          -2.74385,
+          -0.17453
+        ],
+        "high": [
+          1.91986,
+          1.74533,
+          1.69,
+          1.65806,
+          2.84121,
+          1.74533
+        ],
+        "motor_names": [
+          "shoulder_pan",
+          "shoulder_lift",
+          "elbow_flex",
+          "wrist_flex",
+          "wrist_roll",
+          "gripper"
+        ]
+      }
+    },
+    "environment": {
+      "platform": "win32",
+      "python_version": "3.13.2 (tags/v3.13.2:4f8bb39, Feb  4 2025, 15:23:48) [MSC v.1942 64 bit (AMD64)]",
+      "working_directory": "E:\\git\\ai\\lerobot-thesis"
+    },
+    "_source_dataset": "danbhf_sim_pick_place_20251229_101340",
+    "_episode_range": [
+      0,
+      20
+    ]
+  },
+  {
+    "recording_info": {
+      "timestamp": "20251229_144730",
+      "repo_id": "danbhf/sim_pick_place_20251229_144730",
+      "task": "Pick up the Duplo block and place it in the bowl",
+      "fps": 30,
+      "max_duration": 60.0,
+      "num_episodes_target": 20,
+      "randomization": {
+        "enabled": true,
+        "pos_range_cm": 4.0,
+        "rot_range_deg": 180.0
+      }
+    },
+    "git": {
+      "commit_hash": "4548c030734ee60eb83c65bbfcc7af6419fedbe8",
+      "commit_short": "4548c03",
+      "branch": "main",
+      "remote_url": "git@github.com:DanielBryars/lerobot-thesis.git",
+      "is_dirty": true,
+      "last_commit_message": "Git ignore trained models",
+      "last_commit_date": "2025-12-29 13:54:59 +0000"
+    },
+    "leader_arm": {
+      "type": "so100_leader_sts3250",
+      "port": "COM8",
+      "id": "leader_so100",
+      "calibration": {
+        "shoulder_pan": {
+          "id": 1,
+          "drive_mode": 0,
+          "homing_offset": 0,
+          "range_min": 803,
+          "range_max": 3306
+        },
+        "shoulder_lift": {
+          "id": 2,
+          "drive_mode": 0,
+          "homing_offset": 0,
+          "range_min": 920,
+          "range_max": 3195
+        },
+        "elbow_flex": {
+          "id": 3,
+          "drive_mode": 0,
+          "homing_offset": 0,
+          "range_min": 939,
+          "range_max": 3142
+        },
+        "wrist_flex": {
+          "id": 4,
+          "drive_mode": 0,
+          "homing_offset": 0,
+          "range_min": 1015,
+          "range_max": 3176
+        },
+        "wrist_roll": {
+          "id": 5,
+          "drive_mode": 0,
+          "homing_offset": 0,
+          "range_min": 247,
+          "range_max": 3888
+        },
+        "gripper": {
+          "id": 6,
+          "drive_mode": 0,
+          "homing_offset": 0,
+          "range_min": 2046,
+          "range_max": 3297
+        }
+      },
+      "eeprom": {
+        "shoulder_pan": {
+          "Homing_Offset": 568,
+          "Min_Position_Limit": 0,
+          "Max_Position_Limit": 4095,
+          "Max_Torque_Limit": 1000,
+          "Protection_Current": 310,
+          "Operating_Mode": 0,
+          "P_Coefficient": 6,
+          "I_Coefficient": 0,
+          "D_Coefficient": 30,
+          "Present_Position": -4
+        },
+        "shoulder_lift": {
+          "Homing_Offset": 758,
+          "Min_Position_Limit": 0,
+          "Max_Position_Limit": 4095,
+          "Max_Torque_Limit": 1000,
+          "Protection_Current": 310,
+          "Operating_Mode": 0,
+          "P_Coefficient": 6,
+          "I_Coefficient": 0,
+          "D_Coefficient": 15,
+          "Present_Position": 50
+        },
+        "elbow_flex": {
+          "Homing_Offset": -799,
+          "Min_Position_Limit": 0,
+          "Max_Position_Limit": 4095,
+          "Max_Torque_Limit": 1000,
+          "Protection_Current": 310,
+          "Operating_Mode": 0,
+          "P_Coefficient": 6,
+          "I_Coefficient": 0,
+          "D_Coefficient": 15,
+          "Present_Position": 30
+        },
+        "wrist_flex": {
+          "Homing_Offset": -1077,
+          "Min_Position_Limit": 0,
+          "Max_Position_Limit": 4095,
+          "Max_Torque_Limit": 1000,
+          "Protection_Current": 310,
+          "Operating_Mode": 0,
+          "P_Coefficient": 10,
+          "I_Coefficient": 0,
+          "D_Coefficient": 30,
+          "Present_Position": -68
+        },
+        "wrist_roll": {
+          "Homing_Offset": -1116,
+          "Min_Position_Limit": 0,
+          "Max_Position_Limit": 4095,
+          "Max_Torque_Limit": 1000,
+          "Protection_Current": 310,
+          "Operating_Mode": 0,
+          "P_Coefficient": 15,
+          "I_Coefficient": 0,
+          "D_Coefficient": 30,
+          "Present_Position": 57
+        },
+        "gripper": {
+          "Homing_Offset": -1177,
+          "Min_Position_Limit": 0,
+          "Max_Position_Limit": 4095,
+          "Max_Torque_Limit": 1000,
+          "Protection_Current": 310,
+          "Operating_Mode": 0,
+          "P_Coefficient": 10,
+          "I_Coefficient": 0,
+          "D_Coefficient": 32,
+          "Present_Position": 8
+        }
+      },
+      "motor_models": {
+        "shoulder_pan": {
+          "id": 1,
+          "model": "sts3250",
+          "norm_mode": "MotorNormMode.RANGE_M100_100"
+        },
+        "shoulder_lift": {
+          "id": 2,
+          "model": "sts3250",
+          "norm_mode": "MotorNormMode.RANGE_M100_100"
+        },
+        "elbow_flex": {
+          "id": 3,
+          "model": "sts3250",
+          "norm_mode": "MotorNormMode.RANGE_M100_100"
+        },
+        "wrist_flex": {
+          "id": 4,
+          "model": "sts3250",
+          "norm_mode": "MotorNormMode.RANGE_M100_100"
+        },
+        "wrist_roll": {
+          "id": 5,
+          "model": "sts3250",
+          "norm_mode": "MotorNormMode.RANGE_M100_100"
+        },
+        "gripper": {
+          "id": 6,
+          "model": "sts3250",
+          "norm_mode": "MotorNormMode.RANGE_0_100"
+        }
+      }
+    },
+    "simulation": {
+      "type": "so100_sim",
+      "scene_xml_path": "E:\\git\\ai\\lerobot-thesis\\scenes\\so101_with_wrist_cam.xml",
+      "scene_xml_content": "<?xml version=\"1.0\" ?>\n<!--\nSO101 robot model with wrist camera.\nBased on so101_new_calib.xml from SO-ARM100 submodule, with wrist camera added.\nMesh files are referenced from the submodule.\n-->\n<mujoco model=\"so101_with_wrist_cam\">\n  <!-- Point to mesh files in submodule -->\n  <compiler angle=\"radian\" meshdir=\"../assets/SO-ARM100/Simulation/SO101/assets\" autolimits=\"true\"/>\n\n  <!-- Global simulation options for reliable collision -->\n  <option timestep=\"0.002\" impratio=\"1\" gravity=\"0 0 -9.81\" cone=\"elliptic\" noslip_iterations=\"10\"/>\n\n  <visual>\n    <headlight diffuse=\"0.6 0.6 0.6\" ambient=\"0.3 0.3 0.3\" specular=\"0 0 0\" />\n    <rgba haze=\"0.15 0.25 0.35 1\" />\n    <global azimuth=\"160\" elevation=\"-20\" offwidth=\"1920\" offheight=\"1080\"/>\n    <quality shadowsize=\"4096\"/>\n  </visual>\n\n  <default>\n    <default class=\"so101_new_calib\">\n      <joint damping=\"1\" frictionloss=\"0.1\" armature=\"0.005\"/>\n      <position kp=\"50\"/>\n      <default class=\"visual\">\n        <geom type=\"mesh\" contype=\"0\" conaffinity=\"0\" group=\"2\"/>\n      </default>\n      <default class=\"collision\">\n        <geom group=\"3\" contype=\"3\" conaffinity=\"3\"/>\n      </default>\n    </default>\n    <default class=\"sts3215\">\n      <geom contype=\"0\" conaffinity=\"0\"/>\n      <joint damping=\"0.60\" frictionloss=\"0.052\" armature=\"0.028\"/>\n      <position kp=\"17.8\"/>\n    </default>\n    <default class=\"backlash\">\n      <joint damping=\"0.01\" frictionloss=\"0\" armature=\"0.01\" limited=\"true\" range=\"-0.008726646259971648 0.008726646259971648\"/>\n    </default>\n  <default class=\"fingerpad\">\n    <geom\n      type=\"box\"\n      size=\"0.004 0.015 0.010\"\n      friction=\"100 10 0.1\"\n      condim=\"6\"\n      solref=\"0.002 1\"\n      solimp=\"0.999 0.9999 0.00001\"\n      contype=\"3\"\n      conaffinity=\"3\"\n      rgba=\"0.15 0.15 0.15 0.2\"\n      group=\"0\"\n      priority=\"1\"/>\n  </default>\n  </default>\n\n  <asset>\n    <!-- Textures and materials for scene -->\n    <texture type=\"skybox\" builtin=\"gradient\" rgb1=\"0.3 0.5 0.7\" rgb2=\"0 0 0\" width=\"512\" height=\"3072\" />\n    <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\" />\n    <material name=\"groundplane\" texture=\"groundplane\" texuniform=\"true\" texrepeat=\"5 5\" reflectance=\"0.2\" />\n    <material name=\"duplo_white\" rgba=\"0.95 0.95 0.95 1\" />\n\n    <!-- Robot meshes from submodule -->\n    <mesh file=\"waveshare_mounting_plate_so101_v2.stl\"/>\n    <mesh file=\"sts3215_03a_v1.stl\"/>\n    <mesh file=\"motor_holder_so101_base_v1.stl\"/>\n    <mesh file=\"wrist_roll_follower_so101_v1.stl\"/>\n    <mesh file=\"moving_jaw_so101_v1.stl\"/>\n    <mesh file=\"base_motor_holder_so101_v1.stl\"/>\n    <mesh file=\"upper_arm_so101_v1.stl\"/>\n    <mesh file=\"wrist_roll_pitch_so101_v2.stl\"/>\n    <mesh file=\"under_arm_so101_v1.stl\"/>\n    <mesh file=\"rotation_pitch_so101_v1.stl\"/>\n    <mesh file=\"motor_holder_so101_wrist_v1.stl\"/>\n    <mesh file=\"sts3215_03a_no_horn_v1.stl\"/>\n    <mesh file=\"base_so101_v2.stl\"/>\n\n    <!-- Robot materials -->\n    <material name=\"base_motor_holder_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"base_so101_v2_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"sts3215_03a_v1_material\" rgba=\"0.1 0.1 0.1 1\"/>\n    <material name=\"waveshare_mounting_plate_so101_v2_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"motor_holder_so101_base_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"rotation_pitch_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"upper_arm_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"under_arm_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"motor_holder_so101_wrist_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"sts3215_03a_no_horn_v1_material\" rgba=\"0.1 0.1 0.1 1.0\"/>\n    <material name=\"wrist_roll_pitch_so101_v2_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"wrist_roll_follower_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n    <material name=\"moving_jaw_so101_v1_material\" rgba=\"1 0.82 0.12 1\"/>\n  </asset>\n\n  <worldbody>\n    <!-- Scene elements -->\n    <light pos=\"0 0 3.5\" dir=\"0 0 -1\" directional=\"true\" />\n    <geom name=\"floor\" size=\"0 0 0.05\" pos=\"0 0 0\" type=\"plane\" material=\"groundplane\" contype=\"1\" conaffinity=\"3\"/>\n\n    <!-- Overhead camera (Nuroum V11: 90\u00c2\u00b0 diagonal FOV -> ~52\u00c2\u00b0 vertical for 16:9) -->\n    <camera name=\"overhead_cam\" pos=\"0.3 -0.09 0.6\" axisangle=\"0 0 1 -1.5708\" fovy=\"52\"/>\n\n    <!-- Bowl/container for pick and place target -->\n    <!-- Position: moved 10cm right (-Y) -->\n    <!-- Square container with thin walls, 12cm x 12cm x 3cm deep -->\n    <body name=\"bowl\" pos=\"0.217 -0.225 0.0\">\n      <!-- Base (thin plate) -->\n      <geom name=\"bowl_base\" type=\"box\" size=\"0.06 0.06 0.002\" pos=\"0 0 0.002\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.5 0.5 0.01\"/>\n      <!-- Walls (4 sides) -->\n      <geom name=\"bowl_wall_px\" type=\"box\" size=\"0.003 0.06 0.015\" pos=\"0.06 0 0.017\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.3 0.3 0.01\"/>\n      <geom name=\"bowl_wall_nx\" type=\"box\" size=\"0.003 0.06 0.015\" pos=\"-0.06 0 0.017\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.3 0.3 0.01\"/>\n      <geom name=\"bowl_wall_py\" type=\"box\" size=\"0.06 0.003 0.015\" pos=\"0 0.06 0.017\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.3 0.3 0.01\"/>\n      <geom name=\"bowl_wall_ny\" type=\"box\" size=\"0.06 0.003 0.015\" pos=\"0 -0.06 0.017\" rgba=\"0.85 0.85 0.8 1\"\n        contype=\"1\" conaffinity=\"3\" friction=\"0.3 0.3 0.01\" mass=\"0.1\"/>\n    </body>\n\n    <!-- White Duplo 2x4 brick for pick and place task -->\n    <!-- Duplo 2x4: 64mm x 32mm x 19.2mm body + 4.5mm studs -->\n    <!-- Position: moved 10cm left (+Y) -->\n    <body name=\"duplo\" pos=\"0.217 0.225 0.0096\">\n      <freejoint name=\"duplo_joint\"/>\n      <!-- Main brick body - high friction for gripping -->\n      <geom name=\"duplo_body\" type=\"box\" size=\"0.032 0.016 0.0096\" material=\"duplo_white\" mass=\"0.03\"\n        contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\" condim=\"6\" margin=\"0.001\"\n        solref=\"0.002 1\" solimp=\"0.999 0.9999 0.00001\"/>\n      <!-- Studs (8 total: 4x2 grid, 16mm spacing, 9.6mm diameter, 4.5mm tall) -->\n      <!-- Row 1 (y = -0.008) -->\n      <geom name=\"stud_1\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"-0.024 -0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_2\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"-0.008 -0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_3\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"0.008 -0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_4\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"0.024 -0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <!-- Row 2 (y = +0.008) -->\n      <geom name=\"stud_5\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"-0.024 0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_6\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"-0.008 0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_7\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"0.008 0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n      <geom name=\"stud_8\" type=\"cylinder\" size=\"0.0048 0.00225\" pos=\"0.024 0.008 0.012\" material=\"duplo_white\" contype=\"3\" conaffinity=\"3\" friction=\"100 10 0.1\"/>\n    </body>\n\n    <!-- Robot arm -->\n    <body name=\"base\" pos=\"0 0 0\" quat=\"1 0 0 0\" childclass=\"so101_new_calib\">\n      <inertial pos=\"0.0137179 -5.19711e-05 0.0334843\" mass=\"0.147\" fullinertia=\"0.000114686 0.000136117 0.000130364 -4.59787e-07 4.97151e-06 9.75275e-08\"/>\n      <geom type=\"mesh\" class=\"visual\" pos=\"-0.00636471 -9.94414e-05 -0.0024\" quat=\"0.5 0.5 0.5 0.5\" mesh=\"base_motor_holder_so101_v1\" material=\"base_motor_holder_so101_v1_material\"/>\n      <geom type=\"mesh\" class=\"visual\" pos=\"-0.00636471 -8.97657e-09 -0.0024\" quat=\"0.5 0.5 0.5 0.5\" mesh=\"base_so101_v2\" material=\"base_so101_v2_material\"/>\n      <geom type=\"mesh\" class=\"visual\" pos=\"0.0263353 -8.97657e-09 0.0437\" quat=\"1 -2.85511e-16 -9.64433e-17 6.12908e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n      <geom type=\"mesh\" class=\"visual\" pos=\"-0.0309827 -0.000199441 0.0474\" quat=\"0.5 0.5 0.5 0.5\" mesh=\"waveshare_mounting_plate_so101_v2\" material=\"waveshare_mounting_plate_so101_v2_material\"/>\n      <site group=\"3\" name=\"baseframe\" pos=\"8.67362e-19 9.55596e-18 3.46945e-18\" quat=\"1 -8.17396e-19 3.78392e-17 2.22045e-16\"/>\n\n      <body name=\"shoulder\" pos=\"0.0388353 -8.97657e-09 0.0624\" quat=\"3.56167e-16 1.22818e-15 -1 -4.14635e-16\">\n        <joint axis=\"0 0 1\" name=\"shoulder_pan\" type=\"hinge\" range=\"-1.9198621771937616 1.9198621771937634\" class=\"sts3215\"/>\n        <inertial pos=\"-0.0307604 -1.66727e-05 -0.0252713\" mass=\"0.100006\" fullinertia=\"8.3759e-05 8.10403e-05 2.39783e-05 7.55525e-08 -1.16342e-06 1.54663e-07\"/>\n        <geom type=\"mesh\" class=\"visual\" pos=\"-0.0303992 0.000422241 -0.0417\" quat=\"0.5 0.5 0.5 -0.5\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n        <geom type=\"mesh\" class=\"collision\" pos=\"-0.0303992 0.000422241 -0.0417\" quat=\"0.5 0.5 0.5 -0.5\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n        <geom type=\"mesh\" class=\"visual\" pos=\"-0.0675992 -0.000177759 0.0158499\" quat=\"0.5 0.5 -0.5 0.5\" mesh=\"motor_holder_so101_base_v1\" material=\"motor_holder_so101_base_v1_material\"/>\n        <geom type=\"mesh\" class=\"collision\" pos=\"-0.0675992 -0.000177759 0.0158499\" quat=\"0.5 0.5 -0.5 0.5\" mesh=\"motor_holder_so101_base_v1\" material=\"motor_holder_so101_base_v1_material\"/>\n        <geom type=\"mesh\" class=\"visual\" pos=\"0.0122008 2.22413e-05 0.0464\" quat=\"0.707107 -0.707107 -0 8.3163e-34\" mesh=\"rotation_pitch_so101_v1\" material=\"rotation_pitch_so101_v1_material\"/>\n        <geom type=\"mesh\" class=\"collision\" pos=\"0.0122008 2.22413e-05 0.0464\" quat=\"0.707107 -0.707107 -0 8.3163e-34\" mesh=\"rotation_pitch_so101_v1\" material=\"rotation_pitch_so101_v1_material\"/>\n\n        <body name=\"upper_arm\" pos=\"-0.0303992 -0.0182778 -0.0542\" quat=\"0.5 -0.5 -0.5 -0.5\">\n          <joint axis=\"0 0 1\" name=\"shoulder_lift\" type=\"hinge\" range=\"-1.7453292519943224 1.7453292519943366\" class=\"sts3215\"/>\n          <inertial pos=\"-0.0898471 -0.00838224 0.0184089\" mass=\"0.103\" fullinertia=\"4.08002e-05 0.000147318 0.000142487 -1.97819e-05 -4.03016e-08 8.97326e-09\"/>\n          <geom type=\"mesh\" class=\"visual\" pos=\"-0.11257 -0.0155 0.0187\" quat=\"4.56308e-16 -0.707107 0.707107 -1.37383e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n          <geom type=\"mesh\" class=\"collision\" pos=\"-0.11257 -0.0155 0.0187\" quat=\"4.56308e-16 -0.707107 0.707107 -1.37383e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n          <geom type=\"mesh\" class=\"visual\" pos=\"-0.065085 0.012 0.0182\" quat=\"0 1 0 0\" mesh=\"upper_arm_so101_v1\" material=\"upper_arm_so101_v1_material\"/>\n          <geom type=\"mesh\" class=\"collision\" pos=\"-0.065085 0.012 0.0182\" quat=\"0 1 0 0\" mesh=\"upper_arm_so101_v1\" material=\"upper_arm_so101_v1_material\"/>\n\n          <body name=\"lower_arm\" pos=\"-0.11257 -0.028 1.73763e-16\" quat=\"0.707107 -5.98613e-17 -2.58051e-17 0.707107\">\n            <joint axis=\"0 0 1\" name=\"elbow_flex\" type=\"hinge\" range=\"-1.69 1.69\" class=\"sts3215\"/>\n            <inertial pos=\"-0.0980701 0.00324376 0.0182831\" mass=\"0.104\" fullinertia=\"2.87438e-05 0.000159844 0.00014529 7.41152e-06 1.26409e-06 -4.90188e-08\"/>\n            <geom type=\"mesh\" class=\"visual\" pos=\"-0.0648499 -0.032 0.0182\" quat=\"0 1 0 0\" mesh=\"under_arm_so101_v1\" material=\"under_arm_so101_v1_material\"/>\n            <geom type=\"mesh\" class=\"collision\" pos=\"-0.0648499 -0.032 0.0182\" quat=\"0 1 0 0\" mesh=\"under_arm_so101_v1\" material=\"under_arm_so101_v1_material\"/>\n            <geom type=\"mesh\" class=\"visual\" pos=\"-0.0648499 -0.032 0.018\" quat=\"3.92687e-16 -1 -1.9186e-15 -6.38378e-16\" mesh=\"motor_holder_so101_wrist_v1\" material=\"motor_holder_so101_wrist_v1_material\"/>\n            <geom type=\"mesh\" class=\"collision\" pos=\"-0.0648499 -0.032 0.018\" quat=\"3.92687e-16 -1 -1.9186e-15 -6.38378e-16\" mesh=\"motor_holder_so101_wrist_v1\" material=\"motor_holder_so101_wrist_v1_material\"/>\n            <geom type=\"mesh\" class=\"visual\" pos=\"-0.1224 0.0052 0.0187\" quat=\"7.21645e-16 1.56949e-15 1 -3.33067e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n            <geom type=\"mesh\" class=\"collision\" pos=\"-0.1224 0.0052 0.0187\" quat=\"7.21645e-16 1.56949e-15 1 -3.33067e-16\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n\n            <body name=\"wrist\" pos=\"-0.1349 0.0052 3.62355e-17\" quat=\"0.707107 9.58722e-16 -7.51313e-16 -0.707107\">\n              <joint axis=\"0 0 1\" name=\"wrist_flex\" type=\"hinge\" range=\"-1.6580628494556928 1.6580627293335335\" class=\"sts3215\"/>\n              <inertial pos=\"-0.000103312 -0.0386143 0.0281156\" mass=\"0.079\" fullinertia=\"3.68263e-05 2.5391e-05 2.1e-05 1.7893e-08 -5.28128e-08 3.6412e-06\"/>\n              <geom type=\"mesh\" class=\"visual\" pos=\"8.32667e-17 -0.0424 0.0306\" quat=\"0.5 0.5 0.5 -0.5\" mesh=\"sts3215_03a_no_horn_v1\" material=\"sts3215_03a_no_horn_v1_material\"/>\n              <geom type=\"mesh\" class=\"collision\" pos=\"8.32667e-17 -0.0424 0.0306\" quat=\"0.5 0.5 0.5 -0.5\" mesh=\"sts3215_03a_no_horn_v1\" material=\"sts3215_03a_no_horn_v1_material\"/>\n              <geom type=\"mesh\" class=\"visual\" pos=\"0 -0.028 0.0181\" quat=\"0.5 -0.5 -0.5 -0.5\" mesh=\"wrist_roll_pitch_so101_v2\" material=\"wrist_roll_pitch_so101_v2_material\"/>\n              <geom type=\"mesh\" class=\"collision\" pos=\"0 -0.028 0.0181\" quat=\"0.5 -0.5 -0.5 -0.5\" mesh=\"wrist_roll_pitch_so101_v2\" material=\"wrist_roll_pitch_so101_v2_material\"/>\n\n              <body name=\"gripper\" pos=\"5.55112e-17 -0.0611 0.0181\" quat=\"0.0172091 -0.0172091 0.706897 0.706897\">\n                <joint axis=\"0 0 1\" name=\"wrist_roll\" type=\"hinge\" range=\"-2.7438472969992493 2.841206309382605\" class=\"sts3215\"/>\n                <inertial pos=\"0.000213627 0.000245138 -0.025187\" mass=\"0.087\" fullinertia=\"2.75087e-05 4.33657e-05 3.45059e-05 -3.35241e-07 -5.7352e-06 -5.17847e-08\"/>\n                <geom type=\"mesh\" class=\"visual\" pos=\"0.0077 0.0001 -0.0234\" quat=\"0.707107 -0.707107 1.66015e-15 6.45094e-15\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n                <geom type=\"mesh\" class=\"collision\" pos=\"0.0077 0.0001 -0.0234\" quat=\"0.707107 -0.707107 1.66015e-15 6.45094e-15\" mesh=\"sts3215_03a_v1\" material=\"sts3215_03a_v1_material\"/>\n                <geom type=\"mesh\" class=\"visual\" pos=\"8.32667e-17 -0.000218214 0.000949706\" quat=\"0 1 0 0\" mesh=\"wrist_roll_follower_so101_v1\" material=\"wrist_roll_follower_so101_v1_material\"/>\n                <!-- Mesh collision disabled - using box primitives instead -->\n                <geom type=\"mesh\" class=\"visual\" pos=\"8.32667e-17 -0.000218214 0.000949706\" quat=\"0 1 0 0\" mesh=\"wrist_roll_follower_so101_v1\" contype=\"0\" conaffinity=\"0\" group=\"3\"/>\n                <site group=\"3\" name=\"gripperframe\" pos=\"-0.0079 -0.000218121 -0.0981274\" quat=\"0.707107 -0 0.707107 -2.37788e-17\"/>\n\n                <!-- Fixed jaw finger pad (gripping surface) - BRIGHT RED for debugging -->\n                <geom name=\"fixed_pad\"\n                  type=\"box\"                  \n                  size=\"0.001 0.0065 0.015\"\n                  pos=\"-0.0085 0.0 -0.0894\"\n                  contype=\"3\"\n                  conaffinity=\"3\"\n                  friction=\"100 10 0.1\"\n                  condim=\"6\"\n                  margin=\"0.002\"\n                  solref=\"0.002 1\"\n                  solimp=\"0.999 0.9999 0.00001\"\n                  rgba=\"0 0 0 1\"\n                  priority=\"1\"\n                  group=\"0\"/>\n\n                <!--\n                ================= WRIST CAMERA =================\n                Edit pos and quat to adjust camera position/orientation.\n                Use adjust_wrist_camera.py to find the right values interactively.\n                Camera looks along its -Z axis by default.\n                -->\n                \n                <!-- 1) Anchor -->\n                <body name=\"cam_anchor\"\n                      pos=\"0 0 -0.045\"\n                      quat=\"1 0 0 0\">\n\n                  <!-- 2) Left/right correction (your Z 180\u00c2\u00b0 flip) -->\n                  <body name=\"cam_yawfix\"\n                        axisangle=\"0 0 1 3.14159265\">\n\n                    <!-- 3) Physical camera offset -->\n                    <body name=\"cam_slide\"\n                          pos=\"0.000 0.039 -0.01\">\n\n                      <!-- 4) Pitch down to see the jaws -->\n                      <body name=\"cam_pitch\"\n                            axisangle=\"1 0 0 -0.7\">\n\n                        <camera name=\"wrist_cam\"\n                                pos=\"0 0 0\"\n                                fovy=\"71\"/>\n\n                        <!-- Visual representation of camera (camera looks along -Z) -->\n                        <geom name=\"cam_body\" type=\"box\" size=\"0.008 0.012 0.006\" pos=\"0 0 0.008\"\n                              rgba=\"0.2 0.2 0.2 1\" contype=\"0\" conaffinity=\"0\"/>\n                        <geom name=\"cam_lens\" type=\"cylinder\" size=\"0.005 0.004\" pos=\"0 0 0\"\n                              rgba=\"0.1 0.1 0.3 1\" contype=\"0\" conaffinity=\"0\"/>\n\n                      </body>\n                    </body>\n                  </body>\n                </body>\n\n                <body name=\"moving_jaw_so101_v1\" pos=\"0.0202 0.0188 -0.0234\" quat=\"0.707107 0.707107 -1.85362e-08 1.85362e-08\">\n                  <joint axis=\"0 0 1\" name=\"gripper\" type=\"hinge\" range=\"-0.17453297762778586 1.7453291995659765\" class=\"sts3215\"/>\n                  <inertial pos=\"-0.00157495 -0.0300244 0.0192755\" mass=\"0.012\" fullinertia=\"6.61427e-06 1.89032e-06 5.28738e-06 -3.19807e-07 -5.90717e-09 -1.09945e-07\"/>\n                  <geom type=\"mesh\" class=\"visual\" pos=\"-5.55112e-17 -5.55112e-17 0.0189\" quat=\"1 -0 3.00524e-16 -2.00834e-17\" mesh=\"moving_jaw_so101_v1\" material=\"moving_jaw_so101_v1_material\"/>\n                  <!-- Mesh collision disabled - using finger pad only -->\n                  <geom type=\"mesh\" class=\"visual\" pos=\"-5.55112e-17 -5.55112e-17 0.0189\" quat=\"1 -0 3.00524e-16 -2.00834e-17\" mesh=\"moving_jaw_so101_v1\" contype=\"0\" conaffinity=\"0\" group=\"3\"/>\n\n                  <!-- Moving jaw finger pad (gripping surface) - BRIGHT GREEN for debugging -->\n                  <geom name=\"moving_pad\"\n                    type=\"box\"\n                    size=\"0.001 0.0065 0.015\"\n                    pos=\"-0.012 -0.0669 0.018\"\n                    axisangle=\"1 0 0 1.5708\"\n                    contype=\"3\"\n                    conaffinity=\"3\"\n                    friction=\"100 10 0.1\"\n                    condim=\"6\"\n                    margin=\"0.002\"\n                    solref=\"0.002 1\"\n                    solimp=\"0.999 0.9999 0.00001\"\n                    rgba=\"0 0 0 1\"\n                    priority=\"1\"\n                    group=\"0\"/>\n\n                </body>\n              </body>\n            </body>\n          </body>\n        </body>\n      </body>\n    </body>\n  </worldbody>\n\n  <!-- Contact pairs to override friction for specific geom combinations -->\n  <contact>\n    <!-- Low friction between Duplo and floor (so it falls/slides naturally) -->\n    <pair geom1=\"floor\" geom2=\"duplo_body\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_1\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_2\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_3\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_4\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_5\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_6\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_7\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"stud_8\" friction=\"0.5 0.5 0.005 0.0001 0.0001\"/>\n    <!-- Low friction between finger pads and floor (so gripper doesn't stick) -->\n    <pair geom1=\"floor\" geom2=\"fixed_pad\" friction=\"0.3 0.3 0.001 0.0001 0.0001\"/>\n    <pair geom1=\"floor\" geom2=\"moving_pad\" friction=\"0.3 0.3 0.001 0.0001 0.0001\"/>\n    <!-- Low friction between Duplo and bowl (so it slides in naturally) -->\n    <pair geom1=\"bowl_base\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"bowl_wall_px\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"bowl_wall_nx\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"bowl_wall_py\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n    <pair geom1=\"bowl_wall_ny\" geom2=\"duplo_body\" friction=\"0.3 0.3 0.005 0.0001 0.0001\"/>\n  </contact>\n\n  <actuator>\n    <position class=\"sts3215\" name=\"shoulder_pan\" joint=\"shoulder_pan\" forcerange=\"-3.35 3.35\" ctrlrange=\"-1.91986 1.91986\"/>\n    <position class=\"sts3215\" name=\"shoulder_lift\" joint=\"shoulder_lift\" forcerange=\"-3.35 3.35\" ctrlrange=\"-1.74533 1.74533\"/>\n    <position class=\"sts3215\" name=\"elbow_flex\" joint=\"elbow_flex\" forcerange=\"-3.35 3.35\" ctrlrange=\"-1.69 1.69\"/>\n    <position class=\"sts3215\" name=\"wrist_flex\" joint=\"wrist_flex\" forcerange=\"-3.35 3.35\" ctrlrange=\"-1.65806 1.65806\"/>\n    <position class=\"sts3215\" name=\"wrist_roll\" joint=\"wrist_roll\" forcerange=\"-3.35 3.35\" ctrlrange=\"-2.74385 2.84121\"/>\n    <position class=\"sts3215\" name=\"gripper\" joint=\"gripper\" forcerange=\"-3.35 3.35\" ctrlrange=\"-0.17453 1.74533\"/>\n  </actuator>\n</mujoco>\n",
+      "config": {
+        "n_sim_steps": 10,
+        "camera_width": 640,
+        "camera_height": 480,
+        "sim_cameras": [
+          "wrist_cam",
+          "overhead_cam"
+        ],
+        "use_degrees": false
+      },
+      "action_space": {
+        "low": [
+          -1.91986,
+          -1.74533,
+          -1.69,
+          -1.65806,
+          -2.74385,
+          -0.17453
+        ],
+        "high": [
+          1.91986,
+          1.74533,
+          1.69,
+          1.65806,
+          2.84121,
+          1.74533
+        ],
+        "motor_names": [
+          "shoulder_pan",
+          "shoulder_lift",
+          "elbow_flex",
+          "wrist_flex",
+          "wrist_roll",
+          "gripper"
+        ]
+      }
+    },
+    "environment": {
+      "platform": "win32",
+      "python_version": "3.13.2 (tags/v3.13.2:4f8bb39, Feb  4 2025, 15:23:48) [MSC v.1942 64 bit (AMD64)]",
+      "working_directory": "E:\\git\\ai\\lerobot-thesis"
+    },
+    "_source_dataset": "danbhf_sim_pick_place_20251229_144730",
+    "_episode_range": [
+      20,
+      40
+    ]
+  }
+]

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